Tipping at luxury lodges and luxury cruises is recommended if you are pleased with the service.
A minimum of US$ 10 for each guest per day is usually the recommended amount for your guide.
For the lodge staff or boat crew there is typically a communal tip box, which is shared amongst the staff members. As a rule of thumb you can tip the general staff around US$ 10 for each guest per day (this is excluding your guide's tip).
Tipping at restaurants is at your discretion and is generally 10 per cent of the bill amount.