Does Judaism have a tithing requirement to the synagogue and/or to aid to the poor?

or those who are well off must give some to the poor or homeless?
a 10 per cent minimum?

It's a completely different mindset from the Christian approach.

The word for giving assistance is tzedakeh, which is from the word for justice. It's not about charity, it's not about grace, it's about justice. We give because it needs to be done.

Synagogues have membership fees -- that's how we pay the rabbi, maintain the building, etc. We don't have a weekly collection, so we do it with an annual fee. My synagogue was very understanding of people with lower incomes. I know this from personal experience.

Jews give ALL the time. A new baby in the family, make a donation. Someone gets married, make a donation. Someone dies, make a donation. Every life event is marked by making a donation to an organization that is important to the person.

That's our mindset. It's a way of recognizing someone and saying You're important. Thank you. I care. And people get real creative and expansive with the reasons they find to give. :-)

Our tradition teaches us that it's important to make sure that every single person is taken care of. Part of that teaching takes the form of a hierarchy. The lowest rung is where the giver and the recipient both know each other. The highest is where neither know.

It's not about recognition. It's about taking care of each other.

giving charity is considered a way to effect mercy from god, to help bring about sincere repentance and to improve the world. At most times of the year, there is a 10% requirement for the poor but the math on this is fuzzy -- we don't take our net adjusted income and just do the math -- there is a lot of stuff which "counts" besides throwing a couple of bucks in a pile.

At some times of the year, there are additional charity requirements as part of ritua and holiday observance.

Tithing in Judaism is actually discussed as the giving of food (fruit, grain, livestock, etc.) and to G-d. However, Jews have a long history of helping out the less fortunate.
Therefore, it has become a tradition to give tzedakah (charity) and in fact a number of synagogues (shuls) have programs for sanctuary and such (there is a shul in Philadelphia that does a lot of outreach).

Some synagogues you have to pay to be a member it is more than a voluntary tithing....

10% to charity.

Yes.

yes, both