Well XDK will cease to exist this summer.
Cocoon is nice, but you will have to shell out hundreds of $ to remove the splashcreen if it bothers you.
I personally like Phonegap, it's free, no splashcreen and has short compiling time. For iOS (and other platforms) , you will have to read the doc on how to configure your project (setting up the icons and such in the config.xml ).
None of these services are problem-free, but most of the time the solution can be found online.