https://www.vaultproject.org https://github.com/hashicorp/vault
It comes with both, a full blown PKI (want a new cert? Use an authenticated REST endpoint!) and SSH backend. On top of that you can use it to manage accounts for many other third party applications as well (e.g. PostgreSQL, MySQL) while leveraging a multitude of authentication backends to delegate granular access for all of these features.
It's been an absolutely eye-opener for somebody like me who's used to managing SSH keys/PKIs (what a pain) and I wouldn't want to use anything else right now.