Rooting in itself will not prevent OTA. But if you make system changes after rooting, it may cause your OTAs to not be applied correctly.
For example: if you install a custom Kernel or a custom ROM, or install XPosed, or delete a system APK or modify a system file, the OTA will likely fail (because it tries to validate the existing files, before applying the incremental update).
You can always just restore the system partition (and leave your data as it is), and flash the OTA - shouldn't take more than a few minutes after you install the drivers and fastboot etc.