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In terms of functionality for each approach, the srdf wiki page has descriptions for each.

In short,

• A link automatically includes its parent joint
• A joint automatically includes is child link
• A chain implicitly defines the joints based on the two selected links (Based on the links in the chain, the set of joints in the chain is implicitly defined. The joints that correspond to a chain are the parent joints for the links in the chain, except the parent joint of the base_link)

As to why the ROS-I tutorial specifically suggests using chains I can only guess that it is easier, less error prone, and/or more suitable to the IK solvers...