Can a global economy provide the opportunity for everyone to lead a full life if they chose to?

Do you think we will ever get to a point at which every nation has eliminated poverty and can provide employment for every person who wants it?

I realize that not everyone can or wants to work, and that economies run best with at least a few % unemployment, but my question is about the future of emerging economies and developing countries. In essence, ''Is there enough opportunity to go around?''