You probably need to relax in a way you probably haven’t in a while. If you are used to stressing/flexing your lower abdominal or bladder muscles to pee, that may not work. Instead, you need to find a way to fully relax those muscles and the pee should just kinda “fall” out.

FWIW I’ve had a cath, it’s REALLY not as bad as you think.

If they are willing, you can also ask for a Texas catheter, which is like a sturdy condom that goes over your business instead of a tube that enters your urethra.