Fixing wall mounted towel rail to plasterboard wall
Towel bars are routinely secured to the wall with drywall anchors, as even wet towels are well within the holding capacity of the anchors. Product recommendations are off-topic here, but any of the types of products you linked would work. 

Note that towel bars are not grab bars, and if they are used as such the drywall anchors will fail. Grab bars must be installed into studs.