Most manual transmissions nowadays are maintenance-free, ie. lifetime fill that never needs to be changed. However the definition of 'lifetime' is still left up to debate.
I'd say it's good to change it once in a while, but 15k is probably too frequently. I try to do it about every 30k on the 530i, trans and rear diff. Fist time it got changed was at around 40k miles. I did notice improvement in shifting afterwards, however, I don't know whether that was due to putting in fresh fluid or switching from the oem fluid to RP SynchroMax.