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I did this in Kinetic, but I think it's same in Jade.

Install Ubuntu, ROS and MySQL Server (Please search instruction yourself)
Install libmysqlclient-dev (sudo apt-get install libmysqlclient-dev)
Create catkin package (follow tutorial)
Make sure following code in "package.xml"

 <build_depend>cmake_modules</build_depend>
<build_depend>libmysqlclient-dev</build_depend>

<run_depend>cmake_modules</run_depend>
<run_depend>libmysqlclient-dev</run_depend>

<export>
  <cpp lflags="-lmysqlclient"/>
</export>

5. Make sure following code in "CMakeList.txt" of your package, sequence is important.

 set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake-modules)
    set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
    set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 find_package(MySqlClient REQUIRED)
 include_directories(${MYSQL_INCLUDE_DIRS})
 add_definitions(${MYSQL_DEFINITIONS})
 target_link_libraries(package_name
       ${catkin_LIBRARIES}
       ${MYSQL_LIBRARIES}
    )

6. Create a folder named "cmake-modules" in your package folder. This name is follow 1st line of code in step 5.

7. Copy contents in this URL: https://cmake.org/Wiki/CMakeUserFindMySQL save it to "FindMySqlClient.cmake", in the folder you created in step 6.

8. In your .cpp file, add this include line:

 #include <mysql mysql.h="">

9. Here is a simple sample to get data from sys database.

 MYSQL *connection; 

        MYSQL_RES *result; 

        MYSQL_ROW row; 
 connection = mysql_init(NULL);
        connection = mysql_real_connect(connection, "mysqlserver", "username", "password", "sys", 0, NULL, 0);
 if(mysql_query(connection, "SELECT * FROM sys_config")) 

        { 

            ROS_INFO("Query Error: %s", mysql_error(connection)); 

            exit(1); 

        } 

        else 

        {

result = mysql_use_result(connection); for(int i=0; i < mysql_field_count(connection); ++i) { std::stringstream ss; row = mysql_fetch_row(result); if(row <= 0) { break; } for(int j=0; j < mysql_num_fields(result); ++j) { ss << row[j] << " "; } ROS_INFO("%s", ss.str().c_str()); } mysql_free_result(result); }