That's true. The books spell things out pretty well.
Jr. did Cub Scouts up thru Webelos and about the first year of scouting. There were issues though with the troop we chose to go to. We switched and that was no better. We eventually dropped it because we had enough other stuff going on.
Our church denomination has a scouting program called "Royal Rangers." They meet as the regular Wednesday evening program for boys (girls have a similar program). We'll send Luke through that.