My personal two cents on this:
"A well regulated Militia, being necessary to the security of a free State, the right of the people to keep and bear Arms, shall not be infringed."
The Right of the people, does indeed mean you and me, as we've all maintained. It doesn't mean just the police, it doesn't mean just the National guard.
That being said, there is that persnickety wording "Well regulated." To me, that means that "the Militia" Being you and me, have to meet minimal guidelines of fitness in order to be allowed the right to bear arms. That means we can't be violent felons, (Those who cannot be trusted with weaponry) Mentally disturbed (Those who can't handle the responsibility of weaponry) and those who are pacifist in nature (We can't force people to carry, who don't want to.)
CCWs aren't inherently unconstitutional, until a state makes it where you can't get one even if you qualify ("May issue" states) or where the state or city makes the issuance of such a license punitive in order to discourage people from obtaining one (That is certainly arguable, seeing the cost associated with obtaining a CCW, plus the confusing reqs put on by certain locations.)
A fully constitutional CCW system would be Affordable, simple, and quick to issue once your background cleared, (No felony convictions, or known mental defects) and you proved that you had obtained basic fire arms instruction (Gun safety class).
Please note that lack of a CCW does not prohibit you from owning nor should it prevent you from carrying weapons. It just means that you can't carry them concealed.
In my perfectly constitutional fantasy Utopia, you'd be able to wander town with a rifle on your back, or a pistol prominently perched on your hip, looking weird if you wanted to. If the local businesses refused to serve customers with rifles and shotguns slung, then thats their business. They can live or die by their business decisions. if enough potential customers carried openly, they'd suffer for their decisions. If every cop in town decided to chat you up on the way to work, but promptly let you go about your business once they found you weren't breaking any laws or harboring any cruel intent, then that would be perfectly fine, and the minor irritation of having to stop and chat with every law enforcement officer in town would be just that. A minor irritation.
In short, the current system is not perfect, nor is it perfectly in line with the Constitution. But be that as it may, it is workable in most of the USA. There is currently no valid reason not to get a Concealed Carry permit if you want to carry concealed, and you don't live in some bassakward place like New York or California.
If you live in one of those bassawkward spaces, your stuck, or screwed, or however you may look at it. I suggest considering a move to a different state. If you don't qualify because you have a violent past, then sucks to be you.
If you don't qualify because you got judged mentally deficient, then I'm sorry about that.
If you don't qualify because some judge or attorney or exwife/girlfriend screwed you over in court, then I'm still sorry, but it still sucks to be you.
If you qualify, but can't afford a gun and CCW, then I suggest you save your pennies, look at some cheaper guns, and shop for a cheaper training class. It sucks the system is so expensive, but thats just the way it is right now.
No system is perfect, innocent people will get hosed. People looking for the help they need, will unfortunately get hosed. People who were once stupid, stay hosed, no matter how much they've changed and improved since then. Poor folks have always gotten hosed, and we'll probably always get hosed. Life ain't fair. The Federal government, the state and local governments, and even me myself are even less fair.