I wanted to add my two cents for those who already tip hotel staff. I've worked in hotels at the front desk, the guest services desk and in housekeeping. I've always found the housekeepers, bellmen and doormen to be articulate, intelligent professionals who enjoy doing their work to the best of their abilities. Believe it or not, they like what they do and, in tourist meccas, these jobs are their careers. Regardless of anyone's feelings on tipping, they do depend on our tips, as they are hourly employees (not salaried) with fairly low wages.
Please remember that the price of everything has gone up except for the amount being tipped. Giving $1 per bag or $1 per person per night to the housekeeper has been the standard for a very long time. Consider upping your tip by an extra dollar per night or an extra dollar or two per bag haul. It will be much appreciated.
I realize that tipping is not mandatory, but it is customary for some services rendered. I also realize that it's difficult to budget for a family vacation and adding even more for tipping may seem prohibitive. I post this only as a suggestion, not as a demand or as a judgement.
If you do not currently tip because you do not feel that you should be supplementing a paycheck, please realize that leaving no tip sends a message that service was bad. Your true feelings are better served by making your case to management or only patronizing establishments that pay a living wage.