My properties housekeepers will never receive tips when they still have dirty due outs at 9pm. I comped more meals and lowered enough rates last night due to rooms not being ready until the evening to pay my salary for a month.
Then again, I'm against our HR departments hiring practices for housekeepers and some of my hotels HK SOP's (2 years exp, must speak english, supervisors can only inspect rooms, no temps allowed, etc).
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back on topic... tip your bellman at least $1 per bag... $2 or more if they're exceptionally heavy or if your room is located in BFE relative to the lobby/bellstand. If you receive any exceptional service, way above and beyond the call of duty (bellman changed your flat tire for you, gets you impossible-to-get reservations at a hot restaurants, front desk agent gives you an upgrade), make with a good tip... or you may not experience that caliber of service again.
And now for the doorman... some hotels it's a member of the bellstaff, just getting the doors, but not always. The bellman will generally split their tips with the doorman, and the doormen/bellstaff almost always will get a kickback from taxis they call, so that's their gratuity.