There are quite a few transitional housing shelters in the Milwaukee area. I suggest you try seeking guidance there. In my area, quite a ways north of you, there is a non-profit organization whose primary aim is to help people without homes. I would guess there are similar organizations in Milwaukee who can help you sort this out. Good luck and God bless you.
This response is intended for informational purposes only and does not create an attorney-client relationship or constitute legal advice.