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Especially if you'd like to use the systems for teaching, you do not need any special computing requirements. KnowRob, for instance, even runs on a Raspberry Pi (though it's not recommended). But any reasonable Linux-Computer should be enough.

As long as your system is well-integrated in ROS and uses the standard messages for e.g. navigation, you can easily add CRAM as executive. One (kind of) cheap robot that is said to be well-integrated with ROS is the turtlebot for about 1200 Euro. In addition, you will need a cheap notebook that you can put on top.