Jump rope is a pretty high impact activity, so you might consider waiting on that until your fitness level improves a little. Are you wearing good walking shoes that fit properly and aren't worn out? Bad shoes will give you all kinds of aches and pains, so I'd recommend being fitted for them by a professional at a specialty running/walking store.
Since you've been doing the walking for a long time without issue, my guess is that it's the jumping rope that's giving you a problem. So consider switching to another activity or slowly building up the amount of time you're doing it (10 minutes might just be too much at this point).
Hope that helps,
"You may have a fresh start any moment you choose, for this thing that we call "failure" is not the falling down but the staying down." Mary Pickford
"No matter how slow you go, you are still lapping everybody on the couch."