We need more info... how many miles on the brakes.. have you ever used them hard...overheated them..towed with them... are the rotors scored or grooved in anyway...
if,,,as you say ALL your other components are good...
then... yes it is probably one or both rotors warped... a good way to tell if you absolutely arent sure is put a dial indicator on them and see how much they runout (out of round/warped)...
if you dont have a dial indicator and need to lo buck test it you could try a straight edge almost touching the wheel and then spin it... if it touches anywhere on the face of the rotor you arent true...but obviously this method isnt as accurate...
surface the rotor and perform a brake job.... make sure you check for wheel bearing/component slop...
cam