(I am a rabbitmq developer.)
Rabbit will, when lightly loaded, generally have latencies on the order of 100-400 microseconds, depending on things like your network card and CPU speed. Once the loading gets a little heavier, internal buffering starts to appear and latencies rise a little. You can safely expect 1ms latencies until the bandwidth use (messages-per-second, bytes-per-second) starts to get high. Latencies will also rise once persistence is introduced, naturally.
Regarding benchmarks, one of the biggest problems here is defining what's important to your application. There are some trivially simple point-to-point and pub-sub latency-and-throughput measuring examples included with the Java client; ask on the rabbitmq-discuss list if you have problems with them! They don't measure much of relevance to real-world applications, but might help allay any concerns you have regarding microbenchmarks of latency or throughput.
Finally, there are many, many good open-source messaging and messaging-related systems available these days. In the world of AMQP alone, besides RabbitMQ, there are also Qpid and OpenAMQ. There are also good open-source JMS servers out there, if you are able to restrict yourself to Java (many people have success with ActiveMQ). Lots of light-weight systems are springing up for Ruby and Python systems, as well; these systems tend to concentrate on queueing alone, and tend not to have the flexible routing capability that AMQP offers.