yes it will just plug in and go. but there a smal chance you have a really early 02. ewaly 99-01 and some 02's have 2 7 pin port and teh RB1 has the 1 22pin port. remove your radio and see which connection it has back there. if its 1 22 pin port your good to go.
just make sure if buying used (which ebay has a deal now and then if you look) that everything works and that you get an antenna and disk. if there beating around the bush and dont answer yes or give a warranty dont bother getting it since odds are it will not work right.
i added one to my 02 limited and love it since i dose nto sticks out .i have the latest version AI with the inmotion and nag scree hack and its good.
only down side to the RB1 is no touch screen and need to get the new disk when the update is out, which can run $200 but theirs ways around that if you know were to look.
this is what it looks like in my jeep DSCN1807.jpg