I have the same problem, but I have found a solution that works pretty well for me. Whenever I find myself procrastinating, I do a short workout routine - 10 burpees, or as many chinups as I can - about a one minute high intensity routine that gets my pulse up but stopping short of breaking a sweat. I find that the increased pulse and adrenaline rush makes me less fearful of failure and gives me a bit of "what the hell" attitude.

Noting though that I only do this when working from home, since this is not really socially acceptable behavior in an office, let alone a café... perhaps I should work from a gym! :)