I make a nice living traveling for my company...
I read the book "Nickle and Dimed" a few years ago and it changed my perspective on service people a bunch. I always tip hotel service staff, everywhere I go a couple bucks per night, regardless of the local economy. I do it for business and personal travel the same way.
They make very little and I make a lot (relatively speaking) so it seems like a kind thing to do. I also tip 20% at restaurants unless the server is a complete beligerent .... I tip shuttle drivers, porters, etc. as well.
I suspest most of you here on Flyer Talk do pretty well financially - why not help people who probably struggle financially to do a little better? It beats having Uncle Sam force you to do it. That will be coming soon enough...
Also, I'd be very surprised if each of your employers wouldn't repay you for the tip as it is pretty standard to leave them. Mine does no problem.