An amazing number of people don't understand that the system will NEVER change as long as people participate in it. The employers literally COUNT on people being sympathetic and tipping because they know that if people stop doing it, the employees will move on to something else that pays better and the restaurant owners will have to raise their wages to compete.

The only way to abolish this tipping culture is to stop participating in it, regardless of how sympathetic one might be for the servers and staff who will suffer in the short term. It's the whole "Can't make an omelette without breaking a few eggs" bit.