Travel a long way at great expense to only eat in fast food restaurants and at breakfast bars. Brilliant.

In the US there are people who work for low wages and depend on tips. If they were paid more the cost of your meal would be higher. In Europe, restaurant meal costs are often way higher than in the US.

The tipping system puts you in control. Don't feel the need to tip for bad service. I tip between 10 and 20% based on service and on rare occasions nothing at all. I do not punish servers for kitchen issues and other issues beyond their control.

I sometimes leave a bit extra because it says to the server that he or she did a really good job. I know that helps make their day and that helps make mine.

Lighten up. Go where the action is. Don't miss out because tipping makes you uncomfortable.