I rent my place. How do I legally throw someone out?

I have checked with the landlord/tenant division at the courthouse (Florida) and they say I cannot evict the person because he does not have a rental agreement to pay the rent TO me. Both our names are on the lease but he does absolutely nothing to help with the bills, the food, laundry...NOTHING. I want him out. The only option I have heard so far is to get a lawyer and file an ejectment ($350+). I am already broke from paying everything.