This. High level OKRs should be set by the company to steer the ship, and engineering OKRs should align with the company OKRs. Thus, the roadmap is defined by the OKRs - I believe that's the whole point.
It just takes so many cycles to get to a point where everyone in the company is on-boarded to OKRs properly and by then people are burnt out on them, going through the motions without seeing the value, at least from the bottom up.