At least in the U.S.. Tipping culture is massively inefficient, unfair and tragically codified into law. It should be abolished in every sense of the word.
But... having said that, I can't say "don't tip". Yes the customer is being guilted into subsidizing a workers wage, but NOT tipping directly hurts the worker that we all agree should be making more then what's agreed. It sucks but there is no action customers can take that will result in service members being paid more. The problem is too far rampant and ingrained. It would take a herculean legal rework, massive ad campaigns and decades to fully end.
So unfortunately, because it is the norm and all employees and employers plan on it, my answer is yes you have to tip.