I hate tipping but I think that in the US, given the system in place, diners are pretty much obligated to tip. Given that it's clear that for many, if not the vast majority of wait staff, their employer provided wages are nowhere near a fair or livable one, then customers have little ethical option but to tip in the current circumstances. I would much prefer that US wait staff (and all workers, for that matter) got a decent wage from their employers, but protesting the lack of such a system by not tipping underpaid workers isn't a good way to go about it.
The elephant in the room that the "non-tippers" are ignoring is that, if the US "did it right" then the cost of service would simply be added to the menu prices. They would be paying for it anyway, just without the option to be a cheapskate and rip off the people who are serving them.
Emphasis added
Which would be much better in so many ways:
*Assurance that the staff were actually getting paid properly
*A simple, all inclusive price on the menu rather than a mini maths exam every time one dines out (excluding the sales tax issue, another pet hate of US life for me)
*Ability to easily compare apples with apples, i.e. no tip restaurants vs tip required restaurants
*A probable improvement in service. After I've received my meal, I'd rather be left alone to eat it in peace rather than having my newest best buddy checking up on me every few minutes/nanoseconds. If I need something, I'll call you!
Really, besides for some egotistical reason of having the power to decide if your waiter can possibly afford both food
and rent this week, then I don't really see what the benefits of the US system are in its current form.