Tippecanoe and Tyler, too.
My experience is that Canadians often tip minimally, and the service in Canadian restaurants reflects this.
Americans tip better than Canadians, but they also expect better service.
So when Canadians visit the US, the wait staff are annoyed with them because they tip 8%.
When Americans visit Canada, the wait staff are annoyed with them because they seem spoiled and demanding.
Low- or non-tippers often get tetchy about being made to feel obligated, and excuse their (in)action by saying that it's the restaurant's job to pay the staff enough so the customer doesn't have to tip. As if all contextual clues as to proper behaviour are irrelevant except the fact that a particular price was printed on a menu.
Lemme explain how it works: if you didn't ever have to tip, the restaurant would have to pay the staff more. Who do you imagine would pay that extra cost? Correct: you would. It would be built into the cost of every dish, instead of added at the end of the bill for you to see the way many places do for large parties.
Imagine you non-tippers got your way, and all the prices were higher to reflect the decent wages waiters now made. I guarantee your dining experiences would be less enjoyable, because waiters would have much less incentive to give you good service.
Now imagine someone comes along and says "A lot of your meal experience depends on your server. In recognition of that, we're going to pay them less, reduce the cost of your meals, and let you pay the server directly, in proportion to the meal cost and in reflection of his/her service." You'd be tickled. Or at least, I would.
Now, if you receive lousy service, say something. And don't tip if you don't want to. But if you got good service, the right answer is 15% -- suck it up and pay it, MacTavish.
Related note: tip jars for service that is minimal (ringing up a donut) are stupid. The service person's contribution to the transaction is miniscule. I regularly ignore those, and feel under no obligation to contribute anything other than a few coins if I find it convenient.