Antiferromagnetic insulators on the diamond lattice are candidate materials to host exotic magnetic phenomena ranging from spin-orbital entanglement to degenerate spiral ground-states and topological paramagnetism. Compared to other three-dimensional networks of magnetic ions, such as the geometrically frustrated pyrochlore lattice, the investigation of diamond-lattice magnetism in real materials is less mature. In this work, we characterize the magnetic properties of model A-site spinels CoRh2O4 (cobalt rhodite) and CuRh2O4 (copper rhodite) by means of thermo-magnetic and neutron scattering measurements and perform group theory analysis, Rietveld refinement, meanfield theory, and spin wave theory calculations to analyze the experimental results. Our investigation reveals that cubic CoRh2O4 is a canonical S = 3/2 diamond-lattice Heisenberg antiferromagnet with a nearest neighbor exchange J = 0.63 meV and a Néel ordered ground-state below a temperature of 25 K. In tetragonally distorted CuRh2O4, competiting exchange interactions between up to third nearest-neighbor spins lead to the development of an incommensurate spin helix at 24 K with a magnetic propagation vector km = (0, 0, 0.79). Strong reduction of the ordered moment is observed for the S = 1/2 spins in CuRh2O4 and captured by our 1/S corrections to the staggered magnetization. Our work identifies CoRh2O4 and CuRh2O4 as reference materials to guide future work searching for exotic quantum behavior in diamond-lattice antiferromagnets.