tahoe cv joint and front drive shaft U-joint repair?

I Have a 99 tahoe , emitting clunking noises from front of the vehicle at low speed < 10mph. I also occasionally smell brake pad rubbing type odor. The front drive shaft U-joint needs replacing I know,I see it . How much trouble is it to replace the front U joint??
What is making the noise?? Is it the CV joint?
I have the ABS light on and service soon light on also?
Please advise.......!!!!!!!!!

Well, I replaced the front driveshaft u-joint on mine a while back. It was a bear, but I've had worse jobs... Check out this link.

http://www.automotiveforums.com/vbulletin/showthread.php?t=190136&highlight=u-joint

Can't be much help on the CV joint or the ABS. I would certainly have the codes read on the SES light, that might give you a clue what is happening there witht he ABS light?