$db->query(query_sql) gives true on success. The rest (like eventually rollback) has to be programmed yourself, for there are no provisions for that in Joomla!.
I'm using Doctrine2 in Joomla! (yes, more to be published, working on it) and there you can do everything in memory and then "flush" the whole transaction to the database. But that still not the same as database operations with transactions and rollbacks.
In years of making custom webapplications, didn't really need it too. So maybe you should have a look at the design of your application: maybe you can avoid the need for transactions and especially for automated rollbacks. What is it that you want to accomplish?