The symptoms you reported (inflammation on skin after sexual intercourse with sexual worker with condom, slight inflammation on the tip of the penis), indicate that possibly you might be experiencing a skin infection that was transmitted through skin contact when you had intercourse. If you kept clean (removing the condom and not touching anything before you washed your hands), then there is a high probability that the condom has protected the penis from infection.
Whether the skin infection is from a sexually transmitted disease or other bacteria have caused it, cannot be determined without visual inspection and an additional examination.
You might want to visit a dermatologist for the skin infection. A urethral swab with antibiogram might be a good idea in order to check whether the infection was transmitted to the penile mucosa or the urethra.
As for HIV, you might want to test yourself three months after the sexual intercourse to be sure that no infection has occurred. The chances for HIV are rather small if the skin infection is caused by a bacteria and there is no urethral infection at all, but taking the test might relieve you from all doubts.
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