Does ROS have any package for abstracting the management of the state for embedded controllers like an Arduino or other microcontroller?

I'm trying to write a high-level behavior in rospy for a two-wheeled platform, which relies on reading sensors from several microcontrollers, and I'm finding myself writing a lot of boilerplate to push actions to the controller to enable/disable certain sensors, and then collect those values in ROS. I'm using rosserial, which takes care of the low-level message passing, but doesn't do anything beyond that. I have to explicitly subscribe to dozens of different topics, define expected refresh rates, and staleness thresholds if certain messages aren't received. I then have to manage the "estimated" state of the controller using Python callbacks and a register storing the last received message for each sensor topic. It's far more tedious than I expected, especially since I thought the whole point of ROS was to take care of low-level stuff like this.

I'm sure I'm not the first person to encounter this problem, but searching the packages, I can't seem to find anything to address these problems. I guess what I'm looking for is a more generic form of the diagnostic aggregator, which tracks all diagnostic messages and maintains a global diagnostic state. Does something like that exist? What's the "ROS" way of doing this?