You need to have started them young and then you can build up what they are expected to do. No one earns money for chores in this house. I know some will say it isn't worth the aggro to make them do chores but all that teaches them is argue enough and you will get your way. I think sitting them down and talking to them about responsibility and not arguing back. I am assuming that they are not arguing back with teachers in school otherwise there would be consequences. Ask them what they think their consequences should be for not doing chores. List all the things you do, mine included cleaning the crud from the dishwasher trap which they were horrified over 
Mine are 18 and 15 but for basics from secondary school age, unpack a dishwasher, they take turns on set days and I do a Friday. Each child is scheduled to unload a weekend load. They have always set the table and helped to clear it but the deal is that no one sits down until everything is either in the dishwasher, hand washed, table wiped and dried, same with worktops. Then people can leave the kitchen.
They have always put their laundry into baskets, on a set day they strip their beds and the last child to put their duvet cover in puts the machine on. I dry it (they are usually at school) then I wash their bathroom towels. I heap it all clean and dry on the landing and they put it back onto their beds and towels are colour coded so we know who it belongs to, they are folded and back on the towel rail in the bathroom.
They each empty a bin twice a week, once on bin day so their bin goes kerbside. Ds1 does recycling, Ds2 does the kitchen bin. Set days again, not when the bin is overflowing.
They also cook together for the family with Ds1 leading and Ds2 still learning. Ds2's role is called sous chef. Shoes are put away as are coats, everything has a place. Both of them are expected to unload all shopping (supermarket and Costco) and put them away, with us doing it too.
I think partly this is because I am disabled so they have seen days where I can barely function and so could take over completely at a young age when it was school holidays and Dh is working. Children are very capable, completely not right but children in other countries hold down jobs. I think sometimes we expect too little from them regarding tidy rooms and chores.