You should call a couple of Realtors to find out what are the recent sale prices of units equal to yours within your development or within 1 mile of you. You will save yourself some money this way by not having to get an appraisal done. If the sales of other condos that are similar to yours are in the $245,000 or greater price range then you will be able to rid yourself of PMI. (you need 22% equity in the property to stop PMI (191,000 / 0.78 = 244,871) )
Next you will need to call your loan servicer and tell them what you are trying to do. They should furnish you with a list of approved appraisers in your area who they will accept an appraisal from. An appraisal will cost you $300 - $350. Your loan servicer upon receiving the appraisal ( you should receive one as well) will discontinue the PMI if you have a 22% equity stake in the property.
Also keep in mind if your interest rate is about 6% or higher, it may pay for you to refinance even if you still need PMI because of new IRS ruling about Mortgage insurance deductibility for policies issued since 2007. See the link below.