Well, can't hurt. Just pop em off and run them over to a shop and ask them to check them for you. (Correct width, no warping, etc.) I doubt they'll charge much, unless they have to pull them off for you, but thats where they get you, hehe.
Its not too hard to remove them. The drum brake rotors pull right off after you remove the tire, and you should just have to remove the calipers on the disc brakes to pull the rotor off. You might need a soft hammer to loosen it up, but it should float.