By trying to eliminate tipping, you are working against the interest of waiters since they naturally want to maximize their income. You may not like tipping but it is economically optimal in many contexts. Businesses need to compete for employees and tipping maximizes employee income relative to revenue.

Where I live, most of the bartenders and waiters I know personally earn on the order of $80k/year if they do it full-time, and not at high-end establishments. Not an ostentatious lifestyle but definitely middle class.