The symptoms that you mention of burning and dribbling of urine could be suggestive of Urinary tract infection
. Drink plenty of water, visit your family physician and get a urine test done.
Since you have mentioned that you get these attacks regualry, better to undergo a thorough investigation.
As regards the HIV
infection, since you were wearing a condom, the chances of getting infected seems slim . But please do not take this kind of risk in future as you may not be lucky a second time. If this thought is giving you sleepless nights, get yourself tested for HIV as well from a reputed lab. Discuss this with your family doctor.