After you have the caliper off there may be 1 or 2 screws that need to come off then tap the rotor with a rubber mallet or a puller to get it off because it may be rusted.
On most camries you need to remove the wheels, then brake pads, and the calipers. Most camries do not use any screws to hold the rotors, thus when you remove the calipers you should be able to remove...
The only tool that will remove a stubborn rotor bolt is a impact screwdriver. Get an impact screwdriver and a 6 mm hex bit, and you will be good to go.
once you have removed the brake caliper and bracket, take a short 2x4 piece of wood and hold it where the caliper mounts and beat it against the rotor from the inside out, rotate the rotor a little...