Tipping by its very definition is a gift. Webster defines it as:
“a gift or a sum of money tendered for a service performed or anticipated”. The formal word for “tip” is Gratuity, which Websters defines as “something given voluntarily or beyond obligation usually for some service”.
Gifts, voluntary, show of gratitude are things that can not be mandated. Nobody should be expected to give a gift that they can not afford. nobody can be forced to show gratitude either. Give what you feel appropriate and give what you can afford. The numbers provided by the camp are a guide. It is not mandated.
For those who argue “they dont get paid much by the camp”, that is not the fault of the parents. As a parent, I am mochel the trips that cost the camp (tens of?) thousands of dollars and dont mind if instead use that money to pay the staff. Charge an extra $100 a kid and use that money to cover tips if necessary.
Tip the bus driver? Dont we PAY for bus service? When was the last time you tipped a city bys driver? If the bus driver goes out if their way to provide a service that you otherwise would not get, then show your gratitude. Lifeguard? S/He is hired to watch your child at the pool. If s/he spends time with your son a show of gratitude is in order.