They did a whole show with Vysotski songs and toured the country with them. I think there are other translations too, or, one should probably call them interpretations. I haven't really checked how close they are to the original.
I think in this case the subtext is pretty easy to understand, but generally Vysotski is difficult, he takes on the voices of so many different people and uses so many colloquialisms. But I don't know what you're referring to when you say that a lot of people have trouble understanding the message?