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I'm always a fan of: if you cant find it, make it. It sounds like you just want to write some simple ROS-wrapped libraries for your users. For example, instead of making them know about pub/sub/ros, you can create a simple python library that will create a ROS node in the background (without their knowledge) and give them simple primitives like my_lib.stop() my_lib.go_forward() my_lib.go_to_pose()

Its on you to write that wrapper but there's nothing conceptually challenging about wrapping ROS-like concepts for a non-ROS user. Instead of roslaunch, you can just make a startup.sh bash script and as long as they don't need to know what's happening, I'd expect you to be able to teach an introduction to programming student about bash.

I'm surprised there isn't a lego-mindstorm-like ROS wrapper for certain projects in the ROS community, but also doesn't surprise me there might not be something to meet your specific needs since everyone's needs are different.