I can't live with my mom... But I feel like a bad daughter. What can I do?

My mom and I have had a very dysfunctional relationship for years, I was raised in a latin american country and there by the age of 40 is very difficult to find work. My mom has not worked for the past 10 years (she is 65 now) I believe she didnt want to find something as I was financially supporting her 100%. When I came to the US and started working I kept supporting her, and finally brought her over ONLY because she promised she was going to work and be independent here( she blaimed all her not working years on our contries system). She came 3 months before I got married( I have been married for 2 years), long story short, she never got a job and is still living with me and my husband. He deals with her for the love he has for me (He doesn't really likes her). she has been rude and bossy at times (she thinks its her house and acts like WE live with her and not the other way around), we have had mayor fights and now she behaves a little better becasue she fears to be kicked out. We just had a baby 2 months ago and now she takes care of him while we work, but she has started to feel like we need her because of the baby and has started with her attitude and bossyness all over again, and honestly at this point I dont want to deal with it, and I dont want my son to grow in that type of environment, because as I said before our relationship is weird. With all that said, I can't help but feel sorry for her and guilty for not wanting to live with her anymore.
HELP!!!