No. If you own that which your labor produces, you can sell it. Adam doesn't have anything to charge Bob for except maintenance. Merely letting Bob live in his basement doesn't require labor from Adam. So, charging rent means getting money for nothing.
How do you know Adam didn't put any labor into his basement? What if Adam built this home including the finished basement? May he then rent it out?
What if he paid someone else for building and finishing the basement, with money he earned through his labor?
"Money for nothing" as you describe this situation, would be infinitely better than nothing for nothing, where Bob doesn't get to rent out the basement and he is forced to be cold and homeless or to build his own shelter.
Perhaps Adam is great at building houses, but Bob is very bad at building houses. Instead, Bob is great at growing food, which he can exchange for shelter (indirectly, through money.) You'd take away his ability to have a nice home through your attempts at avoiding 'exploitation.'