One of these days, you're going to look back on your life and think about all the things you wish you had done, or should have done, but held yourself back because you were afraid of what might happen.
Yes, you might fail. Sure, some people will judge you. There also may be another opportunity coming down the road, but you don't know that for sure. Whatever it is that's keeping you from doing great things, maybe instead of waiting to look back on your wasted opportunities, you take them now. Wouldn't that be a more interesting story to tell your grand kids?