hi, welcome
first you need JACK up and running, if not already; you may use qjackctl for the task;
then you run `samplv1_jack` and load a sample file of your choosing;
you'll need to connect the MIDI input from the keyboard and the audio outputs to system (speakers); again, you may use qjackctl/Graph or Connections for just that.
second, a word of advice, samplv1 is not the right sampler for you to have any good piano sounds--if you think the soundfonts you tried with fluidsynth are bad, then you'll be very disappointed to know that samplv1 cannot ever be any better, no matter the quality of the sample file you load on it, most specially regarding the whole range of a standard piano keyboard (88keys?); you'll be lucky if beyond the central octave (eg. C4 +/- 6semitones) any keys would sound right.
IMHO. you better look back into qsynth/fluidsynth again, setup accordingly with JACK; the lack of quality you mentioned it's probably due on less than optimal configuration/setup, esp. re. the audio driver and/or of poor quality soundfont file (*.sf2).
or else, you may try with some other full-fledged, multi-layered samplers (eg. linuxsampler)
hth.
cheers
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