Of all I have tried for floorplans and quick 3D representations, I like Sweet Home 3D the best. It has a low learning curve, has extensive symbol, furnishing, etc. templates you can download, and will kick out drawings more or less as detailed as you want and can measure. One thing I like is that you can stretch symbols say to show an custom counter with a sink in it. It will snap nice dimension lines if you want them. You can enter dimensions directly by numbers which is nice if you do not have a drawing input device.
Sweet Home 3D is an open source project, works across platforms and is free to use. The community developed symbol sets are too.
http://www.sweethome3d.com/index.jsp
Of course none of the floorplan software programs are intended to be used for things like finish cabinetry. You need something in a more complex CAD drafting program if that is where you are headed.