I personally use the Thera Roll foam roller for my soft tissue work. We have spoken about the reason why you should be foam rolling more than enough times, if you need this information check out this post on foam rolling.
The thera roll is a tough little bugger, it has ridges which enable you to get deep into the muscles, and in all honesty becomes my best friend during a long season. Although foam rolling can be painful, it will help to rid you of a lot of different ailments, in particular enable you to get necessary postural changes and get trigger points out that are causing you pain. In conjunction with some good tennis ball work, you will get a lot of benefit from using this particular foam roller.
Here is a link to T-nation that will go through some important exercises for you and explain a little more about self myofascial release.