Yeah, the shops will read your codes for little money, or even for free in some cases.
One option is to get a suitable diagnostic reader yourself, they are quite cheap nowadays and you don't need to take your car to the shop at every sign of trouble. Just make sure you get the right one for your model and year. Most cars since 2000 use the OBD2-connector IIRC, but I had to get a older manufacturer-specific piece for my 1998 Nissan, actually in form of a laptop dongle and some freeware software.
The thing reads the error codes, and depending on the model, gives you all the monitoring stats / sensor readings of your engine in real time. It's pretty much a must, if you plan on doing some work on your car yourself. I saved a lot of cash with mine when I had some sensor problems - in the end, the cost of the diagnostics tool and getting a new gray-market sensor was less than $200, when the Nissan dealer was estimating the costs including OEM bits at $1500..