STREET CLEANING POLITICS

Is it rude to throw one's personal garbage in a street cleaners cart?
What is the decorum in one such situation? Alternatively, should the crumpled napkin perhaps be tossed on the street, waiting for its cleaner to pick it up? Personally, I would be deeply offended either way.
The only thing a fair-minded human being can do in such a case, is to carry on with the garbage, and throw it into the next fixated street bin he or she encounters, or if possible, a recycling box.
After all, street cleaners have feelings too.