Yeh it should definitely hit the ground.....I'm still a newbie, but every video I've seen people do it, it hits. That's why I said before about the noise, it's a constant slap slap slap
I started with a short rope, and I found I was tripping up on it a lot more, and also I couldn't do any footwork (moving feet about between swings), as the rope was very short. I think most guides say the rope (excluding handles) should be about nipple height.
Your feet should only come a couple of inches max off the ground too.
I've followed the guides online about measuring, have the handles at nipple height, I think i'm jumping too high. Could be why i'm getting the shin pain as well, too much shock as i land.