In the United States, every single wait person job at a restaurant is paid a fraction of minimum wage because we are a culture that tips our waitstaff. Our law is written around allowing this exception to the minimum wage rule. It is the only class of job where this is legal (I believe the wording is "jobs who primarily receive their wages as tips", but generally it is only applied in this way.) The government expects the primary wages of this job class to come from our long tradition of tipping.
Now, it's clear that culturally you disagree with this. Fine. However, until such a time as laws are changed in this country that you are visiting, the fact remains that anyone who is waiting on you in a restaurant *is* working for your tips. This is written into our law. You may not like this, you may resent this, you may belittle this, you may feel however you wish about it, but the fact remains that is the culture in the country you are coming to visit.
If no one did this "crappy" job, you'd be eating from fast food counters your entire trip. You don't change the system by stiffing the people on the front lines. Until such time, unless you receive extremely poor service, yeah, anyone who doesn't tip a waitperson in this country, visitor or resident, is pretty crappy.
AEfx