welcome to cruising
the 'tip thing' is buried in the cruise culture! (been cruising since the early 80's and family WELL b4 that)
some 'top end' cruise lines today are 'no tipping' which simply means the tip is already in the price you pay (why the price is higher than other cruise lines)
for MOST cruise lines the tip is NOT included in the fare and, sad to say, is how a significant number of the crew <especially the ones you see> get paid.
On Royal you can prepay the standard (aka recommended PER PERSON PER DAY) tip amounts. Or they will be automatically charged to your daily account. If you go to customer service desk (aka the pursuer) you can remove the automatic charge. Some do this because they believe if they hand a cash tip to THEIR waiter, the tip goes to THEM and not 'the tip pool' ..... this may be true. I've also seen comments where a 'crew' receiving a cash tip caught not turning it over to 'the pool' would be immediately released from their contract (aka fired)
To not tip at all is
not nice ..... to say the least. Your room steward and the food waiters get most of their $ from this tip pool including the folks at the buffet or beach party. Bar tenders are a different story as most drinks already have an 18% tip built in (including the drink package)
For OP ... if this is your first cruise I can only suspect that someone helped you book .... If a friend forgot to mention cruise tips .....
if a TA forgot to mention tips as a part of the price ..... well, I'd get a new TA next time.
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in the old days you would get a note in your room a couple of days b4 the cruise ended
it outlined what the standard tip (per day) was for your room person, waiter, busboy and head waiter and there were envelopes (for your convenience)