Yes, I've used slavery before, in various forms, with no resistance from players.
Brutish chattel slavery (usually based on race or POWs, etc) I generally reserve for evil societies. It makes a fairly standard reason to go beat up on orcs or whatnot.
However, I've also used other forms of slavery in non-evil societies (mainly as background), using status or economics as the rationale behind it. Examples are caste systems, indentured servitude (medieval serfs), taxation (jannisaries, etc), and the like. However, I don't recall such forms of slavery ever becoming major plot points IMC.
Frankly, as revolting as slavery is, there's a rich history of it throughout history and culture. The social structures and morality of it can provide a lot of intriguing background (and therefore adventure seeds).