How did the shuttle crew find the gashed heatshield tiles?

[Menelaus]

I was under the impression that they normally head to the ISS when they are on a mission, in order to conduct a visual inspection of their heatshield tiles. I haven't heard a word about the ISS this mission, so just curious if anyone had heard how they were viewing the underbelly of the ship.

[Jon]

They use a camera on the robotic arm . . .

[Menelaus]

Did some more research on it, and it's a camera rig + lasers...sounds pretty neat. I totally didn't think of them using the boom for that purpose, duh.