Have had the standard XDS for a while, also recently got the newer model that pans. They are... decent. Haven't owned an Atlas so can't compare, but I have somewhat mixed feelings about the XDS. Everything works fine, but I don't like the way that the legs slide and friction lock.
For a picatinny rail bipod I'd check out the Bobro, Atlas, and panning XDS (gen2). For a sturdy bipod I'd look at the Sinclair tactical, maybe.