Do they insert a urinary catheter with all pain relief during labor?

I'm just about to enter my third trimester so I've been doing a lot of research regarding the types of pain relief available for me. I've noticed that everything I come upon regarding an epidural also comes with a urinary catheter and I'm super not comfortable with that. I guess what I'm wondering is if a catheter is necessary no matter what during the labor process, or if it's only accompanied by certain types of pain relief. Thanks so much.