Raise the car with a jack, and remove the wheel. You will have to remove the brake calipers to take off the rotor. Once the calipers are removed, the rotor should be accessible, and can be removed. This procedure will not require any special tooling, and can be accomplished with basic tools and skills.
Brake rotors can be done at home. Safely raise the tire to be worked on and remove the tire. Remove the brake calipers and secure in place so damage does not occur to the brake line. Remove the center nut from the rotor if it has one and rotor should slide off.
Yes it is something you can do at home if you have the right tools. You will jack up the side of the car that you want to work on. Remove the wheel. Remove the brake caliper and pads from the rotor. Then the rotor will pull directly off of the wheel studs. Installation is reverse order.