He doesn't help me. Should I just leave him?

For 6 years, my boyfriend hasn't help me do anything. He's living with me and he doesn't even Fold the laundry, he doesn't cook unless I ask him, he doesn't take care of his kids, we're together i have a kid myself and don't even help me with her. All he ever did was cheat on me. And when i had lost my Job and house, he left me. His baby mom, my mom, friends etc on the other hand keep calling me stupid for staying with him.. They said They're tired of me asking them for help with my daugher and tired of me asking them for money. Should i just leave him or stick it out?
He doesn't help me. Should I just leave him?
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