My choice of these four is ESLint. JSLint is strict and not configurable, whereas JSHint is lacking the extension mechanism. JSCS is a good choice if you only want to check coding style, but ESLint does that and it checks your code for bugs and other problems as well.
ESLint is also the obvious choice if you want to use ES6 (or ES2015, as they seem to be calling it now). Of all the tools mentioned, it has the widest support for ES6 features.
If you want to try ESLint, I’ve made it really easy for you by creating a 5-step quick start guide. You can download the ESLint 5-step quickstart guide from my website.
JSHint is strong second choice. If you don’t need the advanced features of ESLint, JSHint catches a good number of issues once properly configured. JSCS, with its huge number of available rules, is a top pick if you don’t need anything other than coding style checks (indentation, braces, etc.).
I’m hesitant to recommend JSLint at all. The other tools do the same things, but don’t force any specific rules on the user. The only exception here is if you happen to agree with all the rules it enforces, in which case it might well be worth looking into.
A linting tool is a good step towards catching problems, but it only sees as many errors as its rules permit. For a more foolproof automated bug-catcher, I recommend using unit tests. Code reviews can also be useful for this purpose.