I would strongly recommend not renting to family or friends, especially as you know she can't afford it. What happens when her rent payments dry up? Will you be willing to evict her? Honestly, its just not worth the hassle and you could end up falling out with your daughter.
Depending on the area, you should have no problem renting out to other tenants though. Whether the rent will cover your mortgage payments I dont know and there are other costs when renting too - agent's percentage, insurance, maintenance etc.