Under heavy braking Ie. slowing down for highway ramps I get a front vibration like a skip almost. I've checked front suspension and steering parts and all appear fine, I also changed the front shocks. Is one of my front brake rotor warped? If so how difficult is this to change?

 

Very possible that a rotor is warped. It is easy to check with a dial indicator and the proper mount/arm, but not everyone has one of those.

As far as replacing the rotor, it isn't difficult. You will want to replace the pads as well and might as well do both rotors if they both have been on there the same amount of time.

For the replacement.. Lift and support the front of the vehicle. Remove the wheels. Remove the caliper from the caliper bracket and press the piston(s) back in using a c-clamp and the old inner pad to spread to make things even. Hang the caliper with some wire so as not to stress the rubber brake line. Remove the caliper bracket. Remove the rotor. Clean the new rotor thoroughly with brake parts cleaner to remove any cutting oil and/or preservatives. Install the rotor, holding it on with a lug nut. Clean the caliper bracket and reinstall. Install new pads. Reinstall the caliper. Install the wheel and drop to the ground. Before driving the vehicle, pump the brakes up a few times to put pressure on the front pads.

 

Does it feel like a pulsating under your foot when you press the brake pedal? More intense at higher speeds while braking? Sounds like bad rotors to me. They're not too incredibly hard to change at all. If you have enough meat on them you can take them to a garage and get them turned, but with how inexpensive they are you're better off just replacing them. The only real difficulty (as another member is finding out now) is that they sometimes seize to the hub. Requires some persuasion and a lot of penetrating oil to get 'em off. If you're replacing them anyway I would just hammer away until they come loose. Here's the thread I was talking about: CLICK

EDIT: Beat me to it, and with much better info!