It depends upon whether your truck is 2wd or 4wd. For 2wd, you will have to remove and repack the front bearings as the front rotors are bolted to the hub. If it is 4wd, its much easier because the front rotors just slide over the wheel studs. On the back axle, the rotors also just slide over the wheel studs.
To replace the rotors, you remove the calipers just the same as you would to replace the brake pads. Then you have to remove the caliper mounting brackets which are bolted to the front spindle (or the rear axle for the rear). Then remove the rotor for 4wd or remove the front hub for 2wd.
Technically, you can have the rotors turned (retrued) as long as the thickness meets minimum spec after turning. I usually have the rotors turned one time (when I need to replace the pads), then replace them the next time I replace the pads. I have had no problems with turned rotors.
I also recommend buying a quality rotor, don't try to skimp on brake parts, its not the place to try to be cheap.