^^^ yup. A midwife can help you medically throughout your whole pregnant and will deliver your baby. A doula is basically an experienced support system. Someone who will stand by your side while giving birth and give you positive support rub your back stuff like that.
A midwife is licensed/certified to provide prenatal care and deliver your baby. A doula is simply a labor and postpartum support. I'm not really sure how much a doula is involved in your care before birth.