Should we be tested for TB?

My brother just tested positive for TB. He lives in NJ and my family lives in Florida, however.....he was here visiting us 2 months ago right before he was tested. He was only here for 4 days, was that long enough for us to get infected. I know that its not super infectious but I have a 3 1/2 year old and my youngest daughter was only 3 months at the time. Should i have the girls and/or myself and my husband tested?