Most of Roosevelt's innovations have been the law of the land for 70 years now, and yet we are still a free society free enough, that is, to allow tens of thousands of protesters to gather on the National Mall and to broadcast their slogans and speeches to the world via C-SPAN.
As you may recall, Truman was extremely unpopular when he finally left Washington in 1953, thanks largely to the Korean War. Today, however, he is thought to have been a solidly good president, a 'Near Great' even, in the terminology of those surveys of historians they do every now and then.