der schinken roher feminin die milch kalte milch
is this optional or we forced to use it in some cases ?
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You need to put case endings to German adjectives if you want to use them to describe a noun. Those endings depend on the case, the gender of the noun, and whether there is a definite article/pronoun/numeral, indefinite article/indefinite number, or no article at all in front:
der/dieser/jener/zwei rohe Schinken
ein/kein/aller roher Schinken
In accusative case, for example:
Sie trinkt kalte Milch.
She drinks cold milk.
The adjective declination differs from the other declinations and can be somewhat tricky to remember because of the role of the markers in front of the adjective. Practice is key.
You can also use each adjective to describe a verb, it becomes an adverb then. That form has no case ending:
Sie trinkt Milch immer kalt.
She drinks milk always cold.
Another form without ending is as a predicative. That one describes the noun as well, but as a statement rather than a supplement. It involves the verbs sein, werden or bleiben (and sometimes other verbs):
Die Milch ist kalt.
The milk is cold.