We should ask ourselves, "Is work in return for food and shelter good in and of itself?"
This might seem like a simply-answered question. We must guard against allowing a 'knee-jerk' response, however.
In the past it has never been possible for all the members of a society to have free food and shelter without the voluntary or involuntary submission of others for the provision of these needs.
Slavery provided such a situation.
Welfare systems provide it in our time.
Personally I cannot advocate slavery.
Welfare systems have traditionally ridden on the backs of a heavily-taxed populace. This is also hard to approve.
So far our original query gets yes.
In a world where robot labour can provide food and shelter, will the answer be the same?
If the answer changes, how will our perception of the 'freeloader' or the 'slavedriver' change with it?