Hi Doug and Jhill.
There's a couple of way's to integrate jump rope into your workout.
As Jhill said you can do jump rope as a warm up. You can also include it as an active recovery or a cool down.
For a warm up you can just jump rope for a few minutes. For a novice you'd probably want to use this as a way to perfect the basic bounce and alternate footstep (you would want to get up to be able to do 140 of each without fail), and then move on to be able to do 500 jumps or a few minutes without fail while alternating between the two forms. You should also aim to achieve a speed of 160-180 jumps per minute before advancing.
Active recovery/rest and cool downs are somewhat more advanced, since for someone starting off with jump rope fatigue easily causes you to catch or tangle around the rope. Active recovery is where you would jump rope between sets of TRX exercises, this would only be a minute of jumping. You do the jump rope instead of rest, not as well. For a cool down you would simply jump the same rate as for your warm up.
Obviously active recovery with the jump rope is easier in-between upper-body exercises
You would also eventually want to develop various styles of jumps so you can which can help you with what ever you are training for.
I hope this helps,
Max