I’m sorry, but that last bit makes no sense - here in Germany, waiters get minimum wage (about €6.50 an hour, so around $8.50). And it’s not more expensive to go out and eat. In fact, if you ignore the exchange rate and just compare average living costs, I’m pretty sure eating out is about equally expensive in both countries (and yes, I have lived in the US for extended periods of time, so I know what I’m talking about).
How the US does not have minimum wage for their waiters, when it has such a huge service industry, is mind-boggling. Instead of getting mad at people for not tipping (which I agree, is pretty rude, especially the morons with their pamphlets!), you should get mad at the system.