Yup, the book says 7,500 miles - or at least that's what my '01's owners manual says. If you skipped the 7,500 miles check, I would certainly do one now. Mine were checked at 600, 7,500 & 15,000 miles, after that, I just do them once every winter and I put ~10,000 miles a year on my bike.
If yours still look good at this 24K km check, I wouldn feel bad about extending the interval a little (obviously).