I don’t have adult children living at home (and don’t expect to, though you never know…), but if I did, I would ask for some sort of financial contribution, simply because I have to. I’m at the point where my priority is preparing for retirement, and the increased expenses of another person in the household would negatively impact that.
I haven’t given much thought to what exactly I’d expect them to pay for, other than some sort of nominal rent–enough to offset increased expenses in food, utilities and the like. I hadn’t considered the various items you mentioned, but that’s a good list! Those things add up quickly.
Of course, this all assumes the kid living at home is able-bodied and working. If they were legitimately unable to work (e.g. serious illness), I’d make the necessary sacrifices, rather than let them live on the streets.