As you said several times here in your post, you are "driving yourself crazy." And I think you can understand why other people are getting annoyed with you.

Honestly, your best bet is to get together with a therapist who can help you to get at the root of your issues and/or use some behavioral techniques to "re-train your brain." It might also help to get some medication to help calm you down.

There might be some books available about OCD that could be helpful, but it sounds like to me that lots of things are going on, so getting them dealt with will take some professional guidance.

If money is an issue, then see about getting into a clinic that might take people's money situation into account.