>

Excellent counter argument, and good anecdote evidence. 
Man Reddit is awesome for this kind of stuff (other people’s experiences)
It's a little complicated. In an ideal world, tipping would not have taken root in the US like it has. But this is where we are. And eliminating it has proven difficult.
On the employee end, many employees like servers don't want tipping to end as they make more from tips than they would a living wage with benefits. Many restaurants have tried this (again with a living wage and benefits) only to see employees protest and quit (see here or here). So that's one complication.
The other is that unless it happens all at once, restaurants get put at a competitive disadvantage. Customers would often see the higher upfront cost and be upset, even if no tip was required afterwards. Psychologically it can be different to order at one price point and then to add tip after the purchase is already complete. It breaks up the cost. So if you have a few restaurants with higher prices with no tips and others with lower prices and tips, customers would prefer the latter.
So it really does go beyond employers being greedy and more institutional inertia that can't change unless there's a critical mass. >

Thank you for the imperial data. 
As you said I agree and wish this were more of a simple cause and solution type of problem to have.
Maybe it does start first with the more well known brands that target those with higher incomes. Maybe a 10-15% won’t really matter to these types of customers. 
Note: I’m loving the responses and alternative views I’m seeingZ >

Just a friendly FYI. "Empirical" not "Imperial" >

Raising prices by 15% and eliminating tipping would not increase wages for servers
also I think your title is just wrong if u point out that tipping is fine if the costumer wants to. Perhaps would be better to say "tipping culture" >

I would disagree on your first point: if there were no tipping allowed and prices increased without wage increase, I feel as those these jobs would be insanely difficult to fill. 
Regarding your second point: Aren’t tipping and “tipping culture” the same? Hmmm maybe a better title would be “Mandatory tipping”. >

That is assuming the 15% increase goes to workers >

They would need to pay them as much as other jobs pay or the workers would go there instead >

Sure, I am just saying it would actually decrease their wages >

My server friends make about 75 dollars an hour after tips. If you think that restaurants would pay them that much hourly, there's no way in hell that would happen. They'd be lucky to make half that. While some customers are stingy and willing to stiff you, it's true,  the majority of business owners will pay you the lowest possible wage. Servers generally make more in tips than they would otherwise. >


Servers generally make more in tips than they would otherwise.

This depends greatly on location and the economy.
My wife was a server in FL when she was in her late teens/early 20s.  There's no nice way to say this without sounding like an ass, but she wasn't only good at her job, she also has huge tits.  She crushed it at making tips and made more than she would have at a good hourly wage, just as you said.
But that can oftentimes be the exception.  It was a big city and there was money there, plus tourist seasons.
You're not taking into account a server that works in an Applebees in Youngstown, Ohio or some other random smaller or economically-depressed place (which is becoming more prevalent as time goes on).  Some folks, like your friends, are #winning.  Great for them.  Many servers out there are barely getting by.
Far more people would be helped by businesses being forced to pay their employees a suitable wage rather than the $2 an hour they're guaranteed.  Even those that would make less would be safeguarded against "bad nights" where you get people who tip poorly or not at all no matter how good the service is.
Overall, it would be a benefit for servers.  Just not your friends.  :P