There is some practical usefulness to guilt. Guilt seems to benefit relationships. I think the bad reputation seems to come from the idea that the person feeling guilty doesn't benefit. But the evidence shows that guilt depends on the interpersonal context. It's just not confined to yourself.
Guilt is tied into some kind of interpersonal context.
The writer also points out that guilt helps people in close relationships control each other's behavior. So you could use guilt to control people. Guilt is a good strategy for the weaker person in the relationship. Guilt is a power-equalizing strategy. If you feel guilty over not taking out the garbage, chances are your spouse who wanted the garbage taken out will feel better knowing that.