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You won't get any significant performance or usage difference with both. I'd suggest disabling display manager from startup to improve performance (below 18.04 tutorial has a link)
16.04 is the mostly used/tested one on Rpi. There are some tutorials about how to install ROS on 18.04 too but not as much as 16.04 ones.
If you are going to write your simple nodes from scratch only, I'd suggest 18.04, but if you are going to use packages that are older, and if you want less trouble, go with 16.04 installations.
If you look at page history, you can see that people updated Installing ROS Kinetic on the Raspberry Pi (16.04) in 2018 couple of times. Which means, it's still actively being used by some people.
Asked: 2019-05-29 07:27:24 -0500
Seen: 225 times
Last updated: May 30 '19
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I've only ever seen Ubuntu Mate being used with ROS on the raspberry pi. Rasbian is not based on ubuntu so there are a lot of things that won't work.