As I said, I'd rather see tipping as just a cultural thing where you'd tip whenever and wherever good service was found. Not just for waiters. I see no problem with genuinely giving extra for hard/good work. But when it becomes culturally required, that's when I have a problem. I shouldn't have to tip, just because you don't get paid enough. I should tip when I feel like you did a good job. I see it as a "donate" button on a website. You don't have to click it. But you do if you like the website.
Hey, that's reasonable. Maybe I'm sympathetic because I work coffee where it isn't culturally required. But pro tip: tip your barista at least if he makes you a specialty drink. Or assume he doesn't like you. ;) (If he just pours you drip coffee, another story. But if he's a nice dude and makes you a bomb ass latte, all it takes is fifty cents and he makes his 15%.)