He is fearful of getting a job. He has worked as a newspaper carrier, research subject, babysitter, catsitter and lawncare. He has tried cleaning but got too anxious around the other people. Also it was very early in the morning and he has difficulty sleeping. He has been on antidepressants in the past, several in fact but they were not helpful not to mention hell to get off. I am worried for him. I sometimes think that making him leave my home might force him to stand on his own feet but I am unsure. Please help me help him.

How about getting him back on his meds, getting him professional help to deal with people. And forcing him to pay rent to you.

Making sure he is not up playing computer and video games, getting him up at regular time in the morning and not letting him lay around the house all day.

Perhaps a night job, there are lots of them, if he can't sleep nights

I am not one to suggest that every depressed person get back on his meds. I have taken anti-depressants too, and only one worked, but not for long, and ALL of them had side effects. Some were just plain awful.
But I do agree with the question of staying up all night on his computer.
I do agree about the night job. My local supermarket is ALWAYS hiring night stockers. There will be others doing the job, but each person works alone for the most part. Home Depot, many places, not just grocery stores.
Then perhaps a training program, or 9 month to 1 year school, after he has shown that he can hold a job for a year. Computer tech, green tech, truck driving, HVAC - many options.