My joints are getting creaky and I feel like I need to do some kind of warm up before I start pedaling each morning. Walking the bike a few minutes until I get to the main road isn't really enough. As it is, on my 20 minute commute it is taking 10 to 15 minutes just to feel warmed up and it isn't until the last 5 that I feel like I can really get going. No fun.

I've been thinking of getting a set of rollers, but even the less costly ones are pretty pricey. Another other ideas or best practices?