I've created an example project for you with two different skeletons.
ropetest.zip
One of them using a path, so you can make the rope bend, and another one where the rope is always straight.
Things to note in the path version:
The path constraint rope-path
has it's spacing
set to 25%, this ensures that the four bones are always the entire length of the path. You can transform the center vertex on the path to bend the path.
Things to note in the straight version:
Here I use Inverse Kinematics
to ensure the bones are always rotated to look at the opposite circle. This ensures that the weighted mesh used for the rope doesn't lose it's volume.
I hope this helps.