No, you should not toss the kids out in the street, but there should be some sort of reasonable expectation of contribution (financially) to the home. Adults need to be treated as adults...not adult “children.” If it means they need to get a part-time job flipping burgers to contribute some sort of rent so be it.
But in cases like these it is important to establish there is no longer a free ride. “Rent” needs to be enough to pinch too. Not some cents on the dollar kind of thing.
Rule of thumb for decades was to plan 25% of your income to rent. That is a good place to start the conversation.
Work or job of some kind is required. It is good for their character, skills, and value will be rewarded when the economy turns around.
In that case I agree with you. At the least, if the adult child is unemployed and has no income, s/he should be doing a LOT of physical labor around the house and yard, running errands, cooking, cleaning, doing repairs, making improvements, etc.