How do you ask a roommate to move out?

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About a year ago, a friend of ours was having trouble with his roommate and looking for a new place to live. All the apartments he could find required long-term leases and were more than he could afford on a minimum wage salary. It was supposed to be short term, just a few months until he moved up north to live with his brother and sister-in-law. Then, it was going to be through the fall semester while he finished his degree (which he dropped out of again) and now there seems to be no end in sight. He has even talked about taking over the lease on the apartment when my husband and I move out, which is probably another year away. The trouble is multi-faceted. First, we would really like the space back. This was supposed to be temporary. Second, we made arrangements when he moved in for him to pay $200 a month for his part of bills and rent. Actually, we let him live her for five months before we even asked for that. But that was not supposed to include food, toilet paper and the like. Now, when I cook dinner every night, I am expected to cook for three, but he never chips in for groceries. He buys some groceries of his own, which he eats for other meals, but my husband and I footing the bill for his dinner every night. He has bought toilet paper once in six months. Third, he seems to have no respect for the house. While he passed himself off as a neat freak, he is a complete slob. His movies are scattered throughout the house while ours are neatly alphabetized and put away each day. He leaves his dirty work boots in the kitchen, etc. Fourth, he complains about things as though we are supposed to fix it for him. LAst week, due to torrential rains, our basement flooded. We lost a decent amount of things stored down there. He may have (he hasn't checked) lost a box of old (but in bad shape, so no collectible value) comic books. He has whined about it, but has yet to go see if it got wet and if it could be dried out. Fifth, he is unnecessarily crass, pointing out that we need more sh*t paper, but failing to go buy it himself. I can't believe his mother let him talk this way, so why does he think its appropriate in our home? Sixth, he is always negative. Though he has never actually been mean to her, he refers to my cat as "damn cat" all the time, even though he's been told she lived here first and its her house too. Also, he seems to expect the world to take care of him. the day that it flooded so badly, I woke him long before he had to go to work to warn him about the flooding and yet he griped all the next day that no one from work had called to tell him how bad it was. Finally, and this is the last straw, he has begun burning scented candled in his room to combat the stink of his filth. My fear is that the room is so messy that he will accidentally burned the house down. This was compounded when he came out for dinner and left the candle burning. The man has been a friend for a long time and I don't necessarily want to end the friendship, but this is ridiculous and talking to him about any one of these behaviors usually results in a week or so of correction of the offensive behavior and the development of some other annoying habit. I need good advice here. Any suggestions?