The rotors should be able to be turned if they are warped. Alot cheaper then replacing. Just pull them off and take them to an auto parts store that does brake turning. I had to go to a napa with a machine shop because the checkers down the steet didnt have an adapter big enough for the center bore.
Removing them and changing brake pads is pretty easy. Check out this video
http://www.youtube.com/watch?v=TWVg-YmTw2A
One thing he doesnt show is loosening the parking brake adjuster. Sometimes needs to be done if the drum has worn to where there is a lip that the shoes catch on. For that just pull the rubber plug at the botton on the back plate of the brakes. Use a screwdriver to turn the adjuster a few clicks. Up is loosen, down is tighten.