Your risk of hiv infection is extremely low. Urine does not carry sufficient quanitities of the virus to be infectious. If there was blood in the urine, then there is a remote possibility, assuming that:
1. The urine came from someone with hiv
2. The urine had only just been 'deposited'. Hiv cannot live outside the body for more than a few minutes
and even if the above two are confirmed, chances of infection are very very low. People assume, quite understandably, that because of the lethality of hiv, it must be very east to catch. It isn't. Not very easy at all. Don't worry. But for peace of mind, test at three months.