If you have adult children living at home, not contributing, than you and your husband need to let them know what your expectations of help from them are in terms of household work or charge them rent and hire someone to do the work they should be doing.

My college aged son recently came for several months. Having him here increased the amount of cooking I did, but he took over things like all the cleaning, yard work and errands--which actually meant I didn't have to pay to have cleaning help and a gardener come. It probably took him about 10 hours a week total and it saved him several thousand dollars in rent and groceries while working on completing his degree.

Your first priority has to be your health and second staying out of jail/prison. You are not in a position to be taking care of other adults that are not contributing. And at some point you're not helping them by enabling their behavior.