YES! It was such an impressive game when it first came out. I remember thinking that there's no way the VCS can pull off Asteroids..but it did excellently. My friends and I played and played and played. Even the control scheme was excellent. Going from the arcade buttons to a joystick was just fine.
Space Invaders, Asteroids, and Missile Command are probably the triumvirate of arcade greatness on the 2600. The games that really made the system blow up in the minds of most kids at the time.