I had exactly the same experience (albeit more recently) getting a simple WebRTC DataChannels implementation up-and-running.

Once you realize its just ICE + DTLS + SCTP, and that each layer has a corresponding library, the work getting it up and running is mainly just 'plumbing'.

Here's a link to the library I've been working on: https://github.com/chadnickbok/librtcdcpp