I had an old trek 830 with Shimano cantilevers, they worked pretty good after I learned how to adjust them.
here is the bible on that, written of course by the late great Sheldon Brown;
http://www.sheldonbrown.com/canti-trad.html
http://www.sheldonbrown.com/cantilever-geometry.html
I do remember spending lots of time keeping them adjusted.
From sheldon brown (may he rest in peace)
With modern cantilevers, they permit 5-way adjustment. Older cantilevers, such as the classic Mafacs didn't have any provision for yaw angle (toe-in) adjustment, but most cantilevers made since the 1970s have provided all 5 types of adjustability.
Sometimes it is difficult to get all 5 adjustments set at once, and to get the eyebolt tight enough without twisting it out of position. It helps if you remove the nut from the eyebolt and lubricate the threads.
Probably the best way to adjust the shoes is to use the Shimano technique:
Set the adjusting barrel 2-3 mm from fully closed.
Set the link-wire so that the guide line on its button lines up with the cable. If you're using a traditional yoke instead of a link wire, set the respective lengths of the main cable and transverse cable appropriately.
With the cantis in their relaxed position, adjust the brake shoes so they're touching the rims.
Close down the adjusting barrel. This should allow the brake shoes to withdraw just enough to clear the rim.
Threaded-stud brake shoes with plain washers generally offer height and pitch angle adjustability but little else. For this reason, they are not commonly used with cantilever brakes.
Threaded-stud brake shoes with spherical (domed) washers do allow for all angle adjustments. There are two convex washers, which go inside and outside the arm, and two matching concave washers that mate with the convex ones.
Usually, the concave washers are two different thicknesses, so you can select two different "extensions" depending on whether you put the thick or thin concave washer on the inside.