Good service is the norm in Turkey but wait staff don’t earn much, so tipping is welcomed; 10-15% is usual in upmarket restaurants, but I always leave something at small, family-run neighborhood places too. Round up the fare for taxi drivers or add an extra US $1-2 (8.40-16.80tl) if they help with your bags.
Note: Turkish lira is quite volatile at the time of this writing, so this currency conversion is approximate.