IF the rims are in "good shape" and valve is in good shape - no you do not need tubes.
However - if ballast was used in the old tires, there could be a chance the rims are not in good shape.
DO you plan on ballasting the tires? IF so - I would suggest tubing them to be on the safe side, if not don't worry about the tubes.
The tire installer should be able to recommend what you need to do.