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I know a number of projects have had good luck with the BeagleBone Black and the Odroid U3. The beaglebone will have more I/O, and the Odroid U3 will have significantly more processing power. I've seen a few unpublished projects now that are running an Asus Xtion device off a Odroid U3 using ROS, and doing some pretty cool work.
I also know at least one group that is successfully running ROS on the Radxa Rock board, and it seems like a pretty solid board.
The new Nvidia Jetson TK1 board looks interesting, but they haven't started shipping yet, so there haven't been any projects using them. It it runs Ubuntu, you should be able to install ROS on it.
I would stay away from the Raspberry Pi. They tend to be underpowered and overhyped, and it's more difficult to install ROS on them.
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