I would agree, from the original post, that it sounds like the nurse in question has poor triage and organizational skills. To play devil's advocate for a moment, though---what kind of housekeeping duties is she doing, exactly?
I ask because I am admittedly somewhat of a neat freak at work. I was always the one who went around the nursing station picking up coffee cups, stacking magazines, throwing away old newspapers and discarded shift notes. (However, I did this only when done with my own work or while waiting for a doc callback.) Many times, while walking into an ICU patient's room, I would find such a godawful mess that I HAD to clean up and organize the room first because I knew I would never be able to find anything if the pt crumped. This was not the way I chose to begin my shift; in fact, it ticked me off because it put me behind. But I cannot even THINK in a chaotic, disorganized atmosphere.
Most of the time, however, I didn't say anything to the day shift nurse who left the room that way. This was because the handful of nurses who did this were also the ones who would get their patients out of bed, despite ventilator, PA catheter, chest tubes, multiple drains, Foley, etc. and would shave their pts, wash their hair, change all their lines, etc. I figured my having to take 20 minutes to clean the room was a fair trade for all the work they'd done.
I'm not saying this is what your co-worker is doing. But I thought I'd offer a different perspective. I do think it is possible for people with different workstyles to get along, but there has to be mutual respect of each other's viewpoints. A colleague started arguing with me once about the way I recorded my I & O's, because it wasn't exactly the same way she did hers. Neither of us were wrong, but she was a girl who could never back down. I finally just told her we would have to agree to disagree on this point. We got along fine after that.
Long and short of it is, I think the first step is talk to this nurse and get her to recognize that A) There ARE differing yet equally correct styles of nursing; B) You don't believe she would require so much help from you, or need to work every minute, if she organized her time differently and didn't take on so many non-nursing tasks in addition to patient care. Then offer to show her how you plan you shift. If she completely resists any of this, gets pissy with you and continues to come to you for help while simultaneously accusing you of laziness, then you need to document the chronology and events of a few "typical" shifts and go to your supervisor wioth it. Good luck!