I am an adult single mother and live with my parents who are senior citizens. I originally moved in because they invited me to do so as a way to pay off some legal expenses from my divorce. Those were paid a couple years ago and I still live there because they now need me to stay - they are no longer well enough to remain in their own home if I move out. But it's not easy - we get on each other's nerves and all have to make compromises for this to work, which it frankly does work quite well for all of us.
We needed to build another bedroom so I could have my own space, and I paid for the construction to be done professionally - it was about $5,000. I also pay them $500 per month which covers rent and utilities. I pay $100 per week toward groceries and also regularly pick things up - I buy my own stuff additional to that $100 per week for my son's and my packed lunches during the week, and since my kid never stops eating (teenage athlete) I buy snacks for him. If we all go out somewhere for a meal, movie, etc., I pay for myself and my son. Occassionally when something is needed for the household, if my parent's budget is tight, I spring for it. For example, I paid the $175 to fix the broken garage door, and bought a cord of fire wood.
I do the heavy cleaning in the house as well - they are not able.
They help me in other ways - my mother cooks dinner every night during the week, which is nice because I don't have to come home from work to cook. My father gives my son rides to sports, picks up prescriptions for me and other errands that have to be done during the business day. My son does regular chores but my parents pay him for major jobs.
My parents still pay way more than me to maintain the house, but they also own the home, get the tax benefits of ownership and the equity, which I give up to live with them, so we've determined that to be reasonable.
Your daughter may not make much money, but if she recieves any government benefits, paychecks, child support, etc., she can contribute something. If you do not need the money, put it in an account for her that she can use toward a home when time comes to move out.
Do not let her continue to freeload - it's as bad for her as it is for you.