Is Tipping Mandatory?
Traditionally, tips in a restaurant are not legally required, but it is rude not to pay them. Common etiquette says if you can’t afford to tip, don’t eat at that restaurant. I find that hard because of social pressure.
What does Halacha say about tipping?
I am not well off, but I often find myself forced by social circumstances to eat in a restaurant and pay for my own meal. Affording a tip no matter how small is a struggle for me.