Vent. Fed up with laziness.

Asked my husband to put a fresh bag of cat food in the massive container we keep; the bag of cat food is 20+ lbs and kept high up in a cabinet. After waiting ten minutes for him to do so (while the cats are yowling and asking for a meal), I finally grow fed up and go out to do it myself while 25 weeks pregnant. 
Normally I do not mind pulling my own 
weight, so to speak, but he knows how badly my body is hurting (between sciatica and fibromyalgia, it's been a rough few days) and I even begged him to give me a shoulder rub earlier on.
He followed me to say, "I was going to do that", and when I ignored him, he returned to bed.
When I came back five minutes later, he was sound asleep.
He slept until 3:30pm today, worked 5pm - 12am, and came home by 12:20am. 
I hate that I can't ask him to do a favor for me without acting like I'm some sort of burden. Even the litter box, though he knows the dangers.
He always makes jokes about how I'm asking for ANOTHER favor? How he ALWAYS gives me massages, and maybe he should soon start charging?
I'm sorry I'm tired and sore from making a human being. I try to be self-sufficient, but sometimes I need help.
He wants to take six weeks off to be with me after the baby is born, but as time goes on, I dread it. If he behaves the same way and has to be asked several times to perform a simple task, I am going to feel more alone and frustrated than I do now. I'd rather have my mama come and stay with me for a few weeks and have him go back to work after a week. 
I can't rely on him.
I feel so alone.
(Please note he knows how I feel already; hasn't changed a thing.)