A home inspection is always recommended, whether you're buying a single family home or a condo or townhome.
A good inspector will check that all systems are functional, check all appliances, sinks, showers/tubs, windows and outlets, and go into the attic to check for water damage and other concerns. The exterior of the building in a condo or townhome will also be inspected, even though repairs to these areas may be the responsibility of the HOA (homeowners association). If anything that is the responsibility of the HOA needs to be corrected, you can have the current owner request that the HOA corrects these items before you take ownership of the property.
The inspection is typically paid for by the buyer, unless you have made other arrangements with the seller to cover this cost.