It's up to the person who is going out of his/her way to pick up the item for the lazy SOB
to set the minimum in terms of compensation needed. For example, some "transporters" may be in the very same town on business or pleasure and have absolutely no added expense to pick up the item for the member, or is driving by on their way to another destination...sometimes those people will say "don't worry about paying me, it cost me absolutely nothing" in which case the receiver should STILL give them a little something for their troubles (buy them a beer, a six pack, wine, $5-10). If the transporter again says "no thanks I don't need anything" then you just got the RURR free ticket travel. Some may do it for free, just because they rec'd RURR goods for free in the past, and are just "paying it forward" so to speak.
But if the transporter is really going out of their way to pick something up, or if they are picking up a trailered item, which would then require additional 1) tolls, 2) gas, 3) time, then the transporter should tally up what this total will be (if known), and tell the receiver these totals beforehand, if the transporter is expecing minimum compensation equal to their expenses. This gives the receiver the opportunity to weigh "RURR fees" vs. FedEx, etc.
I haven't had anything RURR'd in a long time, but I usually at least give them a 6 pack of beer, or buy them a drink or something, if they weren't expecting anything at all.