Yes, I did this for several years. My specialty was senior citizens with mobility impairments. But for goodness' sake don't call them "roommates". Never give them the idea that you're their equal; it confuses the boundaries because you're supposed to be the alpha partner in this particular business relationship. Call them roomers, boarders, or tenants depending on how you structure the deal. I always used the word "tenant" because I didn't cook for them.
They should definitely know you own the house. If you feel as though you need an imaginary "bad cop" and have to pretend the owner is someone else, you need to work on your assertiveness before becoming a live-in landlord.
Other people have mentioned the need for a written contract. Definitely use a month-to-month rental agreement (which by the way is not the same as a "lease"). This can be terminated at will by either person with sufficient notice.
I found it optimal to include all the utilities except telephone and Internet service, although if you have access to unlimited bandwidth then Net service makes sense.
If you make a rule, you have to enforce it. Then you turn into Mommy (or Daddy) and your tenant feels comfortable upward-delegating all kinds of responsibility that shouldn't be yours, and you find yourself taking responsibility for making sure the tenant does his or her work. No good can come of that. So, instead of making chore lists, I found it easier to just require people to clean up after themselves in the common area of the house. I did all the cleaning, and made sure the rent was high enough to make it worth my while. All my tenants had to do was keep their room and bathroom tidy, and clean up after themselves in the kitchen and other places. If at any point they wanted the house to be cleaner than it was, they knew where the vacuum and cleaning supplies were.
See to it that your tenant understands that the items in your house, such as your furniture, DVDs, kitchen utensils and such are available for their use, but they are there at your convenience and may be disposed of, by you, at any time. Your belongings are not to be taken out of the house, moved into the tenant's room, or lent or given away to others. You'd be surprised how many tenants have no problem taking your crockpot to their church's potluck and then "forgetting" to bring it back, or bringing back the wrong (lesser quality) item or an item that has been damaged. Having all of this in writing, and going over the contract line by line with the tenant, reduces this.