Well, if you select the hard disk's icon from the desktop, you can right-click or press Cmd-I to see how full it is. But if you're suddenly getting this message, then something fairly rapidly filled your computer. Here are culprits:
1) If you are using any kind of video editing software (iMovie, FCP, etc), occasionally people report that they somehow end up with a 40 gig movie file or something they didn't realize they created.
2) Ditto for audio editing software.
3) The next major possibility is that Limewire is doing this to you -- so go through the folders where it puts files and make sure you don't for some reason have a lot more files than you thought.
4) Otherwise the likely culprit is that a log file or a swap file caused this. In this case, the easiest to explain way to deal with this is to get Onyx and use it to clear caches and logs.