At the risk of sounding harsh (and I do not know the finer details of your situation), I think what could make you a bad mom is if you continue to provide handouts without consequences.
Helping a child out in a tough financial position is one thing (and we can all debate over when it is right or not for a financially secure parent to help), but when it becomes an expectation from the child/burden on the parent and the child doesn't even seem to appreciate it or they fail to see the bind that it puts you into - then it is outright selfishness on the child's part.
Failing to provide food or shelter to a helpless baby or to a minor child is criminal. But when that child becomes a capable adult and still expects everything to be given to them without question, something is wrong with that picture.
Many of us will encounter financial or living issues that we don't anticipate or plan for and I don't see anything wrong with a parent helping out where they can - provided that they can. But if the child never learns to act responsibly as a result, then there is some blame that may fall to the parent.
It's tough to see our kids go through rough times and not try to help make it better. It is tough when we are in rough times and don't seem to see the way out. Every experience is a learning experience - for both the parent and the child.