There is no rule that specifically prohibits you from travelling to the US while you have a pending I-130.

However, keep in mind that if your travel is based on non-immigrant intent (ESTA or other non-immigrant visa class) you can potentially be subjected to additional scrutiny or denied entry.

The reason for this issue is that with the filing of form I-130 an immigrant intent has been created and the inspecting office at port of entry may exercise discretion to not allow you entry or subject you to additional scrutiny.

There are plenty of people who have travelled successfully and those that have faced some of the adverse risks, so really it is up to you on how you want to approach this. We suggest that if you are going to undertake this travel, you should prepare to be questioned and should have documents ready to show your travel plans and strong ties to your home country.