I recently added this back into my routine so on the program listed below I jump rope for 5-7 minutes prior to my weights. My goal in doing this is to strengthen my feet and increase some conditioning.
Lifeline sells some really good jump ropes - you can click though on the products page of my website (go to the bottom of that page).
A great conditioning drill that also hits the feet and some "foot skill" by jumping in different patterns.
Jump rope is a winner - just start with small doses and build into it. And if you are one of those people out there who is saying "But I can't jump rope - I tried and it was just too difficult" - that is exactly why you should be jumping rope. Look into trainers or coaches that can help you learn. It will be worth the effort.
As with any recommendation - see your physician before beginning any new exercise routine and stop if you have pain of any sort and get evaluated. (Disclaimers everywhere!)