IMO you can opt out of the "tip at register" sort of stuff if you want. But if a waiter is coming to your table to take your order, bring your food, refill your drinks, etc. Then you really should tip 15%. Waitstaff generally are paid less than minimum wage and it's because of tipping culture.
Here is a source on what they are paid by state. The 2.13/hr states are the ones you really should tip.