Op, are you not a little too obsessed?
There really is no need to research baby gear, childproof a house before the baby comes, obsess about the health. Birth is very natural, nature takes its course. You have doctor and nurses and that is all you need.
Don't ask him to massage your feet
Let him rest and have some man time
This is an absolutely ridiculous set of statements. "Doctors and nurses are all you need?" Let HIM rest? Idiotic.
OP, ignore this person. As you clearly state for anyone who has a tiny bit of reading comprehension, the problem isn't necessarily that he doesn't want to go shopping with you or rub your feet, but that he's shutting you down rather aggressively with anything that has to do with this pregnancy. Maybe that's due to unstated fear for you and the baby, maybe it's because he's an asshole -- who knows, but it's not the way you should be treated. You are both in this together. If he has larger concerns, he has to express them without yelling or belittling.
I agree with all the calls for counseling, but just keeping it real, it doesn't sound like he's going to be responsive to that. So I just wanted to suggest that if you guys can't go together, it will still be worthwhile for you to consider going by yourself. The therapist may be able to offer some different ways to communicate with him that may make these next stressful days and months easier to deal with.
As for a doula -- you didn't mention where you are, so it's hard for me to give a recommendation. There's been a lot of doulas recommended on this board if you want to search, or you can always go through the Birth Options Alliance.
http://www.birthoptionsalliance.org/
My one suggestion on that end is if you are already in your third tri and you know for sure you want a doula, you should hop on it. A lot of doulas get booked up quite early.
The very best of luck to you. I'm sorry you're going through this.