That depends on the invert, but generally speaking... There are two types of substrates in the ocean: hard and soft. Most inverts that form shells and attach themselves to a substrate like hard substrates, and the ones that burrow usually like the soft ones. It doesn't matter what kind of hard substrate it is: a barnacle (or mussel or tunicate or whatever) will happily take anything hard - rock, metal (hulls of ships), wood (pier pilings), even the surfaces of other organisms (kelp, even skin of large marine mammals).

The animals that go for soft substrates can't attach themselves: worms will undermine them and cause them to fall over.

Living in the ocean is not like living on land: plants on land have to get nutrients and such from the soil, so it matters what kind of soil it is. In the sea, all of the nutrients are dissolved in the water (or carried in the water as debris and plankton, if you're an animal). The only reason to glue yourself to a substrate is so that you won't get washed away into an area, so it is only the physical properties of the substrate that matter.