In Dominica we took a tour with a friend of a friend who lives on the island and offers island tours! His name is Woody and we booked him through his facebook page called Woody Dominica. The tour was around $300 for 4 of us and included a homemade local lunch on the beach! We saw so much of the island that you wouldn't see on a cruise ship tour.
(The secret beach we went to for lunch)