"Leave Me Alone...I'll Do It!"

No kid wants to do their chores. Honestly I really don't know anyone who gets kick-ass exited to mow the lawn, take out the trash, bring down their laundry. Hell, I don't even like to do those chores. It's only when there is that tipping point, when if I leave whatever for one more day that I begin to feel really really bad about myself. And I am an adult.
So your first weapon in combatting the chore blues is to anticipate the struggle it's going to take. Your second weapon is to have a plan in your head that outlines, the number of times you are willing to ask before you just do it yourself, and then the consequence for your teen for not doing it.
There are two variations that I think are effective:
Plan 1
Keep your "asks" to three. All Teens need to be reminded, that is normal. After the 3rd ask you stop asking. And when your teen comes to you next for a ride, money laundry, help with homework, a special snack, etc, you say:" Gee honey, I would love to, let me know when you have done X and I'll get right on it. 
Plan 2
Again keep your asks to three. Then just do it yourself. And when your teen comes asking for any of those favors, you say, You know honey, I would have, but I asked you three times to do X and you chose not to help me out. So sorry, now I choose not to help you out today. 
Nagging is no fun, and almost never works anyway.