It seems like you have a warmer skin tone, but I would go to a makeup counter at department store just to be sure (it doesn't hurt and its free!)

You don't need it! I have tan skin, and my mom's skin is maybe a lil lighter than yours, and I have several friends from Africa who have darker skin like yours. It is so pretty!

The absolute best way is to go to any department store makeup counter, and have one of their associates match you against their color wheel. It's a transparent color card they place over your skin. They can match you exactly. From your photo, your skin is so radiant, why bother with foundation? All you might need is a little powder.