It's hard to tell the exact condition of the rotor from that picture, although it does look a little worn. When the rotors are cool run your fingernail from the inside out, along a radius line. If it gets snagged/you can feel deep gouges in the rotor they should be serviced or replaced.
The second thing that can go wrong is they can be warped, in which case you would need to check the runout of the rotor. This is less likely but still possible. Here's a how-to of that and the tool required.
http://www.ebcbrakes.com/automotive/che ... nout.shtml
If you do decide to replace them and if you've got some money to play with, checkout doing a 300ZX caliper/rotor upgrade. I make this happen for about 250-300 bucks (long time ago I forget exact cost) and I love them.