Sick mother who can't learn her place

Erica
Long story,  my mom has liver disease from being a junk box years ago (20 to be exact) and she lives with me and my fiancé and our son, also I am 7 months pregnant. Maybe I am still angry with her for my life as a child or maybe I am over reacting. She is constantly hounding me about my son, I don't read to him enough, I don't know how special he is, I am a bad mom if I don't give him ice cream every time he asks, I don't listen to him like she does, it's always something!!! I know I am not a perfect mother but I am a better mother than she ever was!!! I have had the conversation about respecting my parenting choices no lie over 100 times and today we had another big blow out because I didn't want to move to a bigger house with her where I wouldn't have access to a bathroom tub for my kids. She moved out and back in 3 months ago and now she is threatening to move out again.... I don't know what to do with her!  She makes me so angry and sick  to my stomach.... I love her, she's my mom but we can never get past these issues and she can't ever let go of control and let me parent my son. I am at a total loss and wasn't expecting her to move till after my child is born so now finically we are going to be strapped. She is so selfish and mean and clearly doesn't care about anyone but herself. I know her leaving is for the best but financially it's going to kill me :( any thoughts on how we can get along? We have tried counseling already and I can't afford to spend another dime to listen to her cry about herself to a therapist about how pathetic her life is because of her illness.... And I can't keep living like this... I guess we need to go our separate ways ..  Sorry for the vent :(