Yes, the replacement is very straightforward. It's really as easy as it seems. Remove the bracket holding the brake line to the suspension (shown in your picture). Remove the caliper (I usually just stuck a bucket or block tall enough to sit it on). Sometimes you do have to smack the rotor a couple of times with a rubber mallet to break it free. It will come right off and you put the new one on and reverse the process.
Once the wheel is off it shouldn't take more than 15-20 minutes to do the swap. Also, if you ever need to replace your wheel studs this is the same process. Once the rotor is removed you take a hammer and hit the outside end of the stud (the threaded portion that the lug nut screws on to). Smack it a few times and it pops out. You then insert the new stud from the back of the hub, and use one of those wheel stud tools (it's a cheap little thing you can get at any auto parts tool) to use a lug nut to pull ("press") the stud into place.
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