Core Developer at OSInet
I used Kafka originally because it was mandated as part of the top-level IT requirements at a Fortune 500 client. What I found was that it was orders of magnitude more complex ...and powerful than my daily Beanstalkd , and far more flexible, resilient, and manageable than RabbitMQ.
So for any case where utmost flexibility and resilience are part of the deal, I would use Kafka again. But due to the complexities involved, for any time where this level of scalability is not required, I would probably just use Beanstalkd for its simplicity.
I tend to find RabbitMQ to be in an uncomfortable middle place between these two extremities.