From you description, it sound as though there is some obstruction in your urethra., either functional or physical. A narrowing/scarring of the urethra, prostatic changes seen with aging, some medications (in particular, orally ingested decongestants), changes in the nerves that control the bladder and prostate can cause what you describe. Yes, it is time to see a urologist and these problems are usually treatable.
S.A.Liroff, M.D.