If you had vaginal sex, there is some risk for herpes and HPV since the condom does not cover the entire genital region. However, while not perfect, a condom reduces this risk considerably
. If you just had oral sex, there is a small risk for HSV-1, but if your partner did not have a visible cold sore, forget about it.
Urethral "pain" without discharge is unlikely to be a symptom of an STD. It might be your anxiety from this event magnifying your normal body sensations.