I've worked with nature centers and educational outreach programs that do travel with their animals to public places (that they've been explicitly invited to, such as schools or convention centers) and I've found that so long as the public are aware that there may be live reptiles on the premises, and that they're given plenty of space to react and distance themselves if they need to, things go pretty well (much like the snakes in that regard, hah). When I've worked programs with educator snakes I've gotten mixed reactions, but usually people who don't want to be near them make themselves scarce on their own, and I've never had someone get aggressive to my face. Then again, I was working with an organization and wearing something of a uniform, so that's some security there.
A walk down the street doesn't seem too bad, so long as you're not in a very urban area. I'd avoid businesses, but open-air parks seem okay to me? If you're just sitting or standing with a snake in your hands, I can't think of any reason anyone would have to complain. If they get squicked out, there's plenty of space for them to move away to.
Edit: also I'd carry a snakebag and/or secure container to stow the snake if needed, and maybe some small info-sheets on whatever kind of snake you have, because people are always less afraid of something if they know more about it.
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