I am wondering if any of the open source ESB provides strong change management capabilities:
That's not an ESB ability. But usually ESBs can behave like app containers (as in David A Chappell's Enterprise Service Bus book chapter 6). So the app/modules can be versioned.
For instance: Mule ESB can behave like a container. Mule provides a maven archetype for creating mule apps. Those apps can be commited to an version control repository. The hot deployment abilities of the container, should be enough to "rollback" changes.