I still consider her a friend, and I don't want to hurt her. Since you are no longer comfortable living with your present roommate, she must be told ASAP that you intend to make other arrangements. That will give her plenty of time to find comfortable living quarters for herself. Be prepared to stand firm, because if she's as dependent as you have described, she'll try to argue and maneuver you into changing your mind. Firmly stress that you still want to be her friend, but that it's important that you both grow and spread your wings during your senior year of college.
Most people seem to think that only mothers have custody of young children.
Believe me, a number of single fathers are raising their children. On the way in, I saw a woman look at me in shock and horror that I was taking a baby girl into the men's room. Another customer had a different reaction. Her father is taking care of her. I am not trying to be 'sweet'.