Professional publishing vs. independent publishing

I am in the process of writing a book that I have been researching now for two years. I had dreamed of completing it by now, but that was an unrealistic goal for a full time student and part time worker. So the book remains written in my mind, but I am determined to take this novel from a dream to a reality. I have researched popular publishers in an effort to better prepare myself for publishing my story, and all seem overwhelming. When Tom mentioned instant publication through Amazon I became extremely excited. My story is one that won't be written for fame or money but for myself, so publishing one copy would be as big a success as publishing a thousand copies for me! Of course, I would be very proud if other people were to enjoy my story, but that is not my main goal. The dilemma I face is if I publish an unedited version of my story, will that hinder the possibility of someone else fully enjoying what I have written? Tom discussed the benefits of editing and the trials of it as well, that an author must be fully capable of handling critique and working with an editor. This seems easier said than done. I would want to have my manuscript professionally edited before publication, but for a story I intend on investing years on, will I be able to handle making significant changes to my story for the sake of selling my story? As I mentioned earlier, I am writing this story as a personal goal, and not for the profits it might create. Tom's lecture has left me with alternative options for publishing, and now I must decide (when the time comes) whether to take the easy way out and Amazon publish or seek professional help to make my dream a reality.