Removing the rotors are real easy. All you need to do is remove 1 of the caliper screw off (there's 2 screws that's holding the caliper on the bracket) and you can rotate the caliper off the rotor, then slide the other slider out of the bracket.
Make sure you secure the caliper (say hang it on the springs), do NOT leave the caliper hanging off the brake line or it can snap the brake line.
The rotor is free floating so there's nothing holding it, you can just pull it out and pop a new one in at no time. Make sure for the rear rotor you release the parking brake FIRST before you try to remove it.
If you don't have any badly rusted/seized bolts you can do the front pair in 30-45 mins.