I had my RALP on the same date of 22nd June and catheter removed on the 4th July, so eleven days with and five days without so far.
My catheter came out without any difficulty or pain and since then I had only mild penis discomfort for a 2-3 days and now when I pass urine I get a bit of a dull ache around my scrotum area, but not to the level you describe above.
As suggested by Steve above, if yours goes beyond a week and doesn't appear to be improving day by day, best to get it checked.
I presume you also had the antibiotic injection at the same time as the catheter was removed?