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If you like to have an easy ros usage you should use a board with Ubuntu 14.04 support. With your spec I think the odroid xu4 is the best. But clock speed is not the only think. The Ram size is important to.

The other thinks are Linux drivers for open cl and open gl es, if you need some kind of visualization of ros.

The PI 3 should be nice to but there is no Ubuntu 14.04 support. You can use debian Jessie, but the environment setup is non that easy but possible.

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