Anyone get embarrassed over tipping eg hairdressers, waiters, taxi drivers?

There are many reasons I dislike the habit of tipping:

1. these people earn salaries and not everyone in all jobs expects to be tipped - I can't understand how this came about

2. I often don't have enough and feel mean if I give a small tip, not knowing how much is appropriate anyway

3. I find it embarrassing - a bit demeaning on both sides

4. the only person I give a tip last year was the postman, and last Christmas I left a note that as I'm retired it would be the last

What do you think? What is the history of tipping? Should it be banned? Is there a way of getting around the embarrassment?