I need to move out badly... My daughter shouldn't be around people calling me a bad mom because I am…

I need to move out badly... My daughter shouldn't be around people calling me a bad mom because I am letting her dad be in her life and he a great father! Just because he wasn't here till I was 5 months pregnant doesn't mean anything about is parenting what so ever! Just because I was a little help so I can help a couple my hours doesn't mean I am a bad parent because I am getting help from his family! Just I don't even know what to do anymore my own mom and little brother are telling me I am a horrible parent because of these things and because I am 20 I am a bad mom... Like really my mom got pregnant at 15 I never judged get once! My baby healthy, has a roof over her head, has food, and has clothes she is loved and cared for by me and her dad 24/7 even know we are coparenting! Am I really a bad mom? I put my daughter before me!