Is this a joke? Not only is it not universal, it's not even customary. The agreement you have with the restaurant is this: you sit down, are served, eat food, and pay. Baseline service is free, that's what you're paying the restaurant for. If the person waiting on me has a problem with me not tipping, they're welcome to take their wage issue up with their employer. I can only say this as someone who supports fair wages for service industries though. I believe a lower minimum wage for restaurant/bar services is a problem. But absolutely under no circumstance will I provide a compulsory tip. It's not my job to pay the employees.
There is a secondary agreement you have with the waiting staff: if you go above and beyond your job description to provide excellent service, you may be rewarded as recognition. Even then, many countries believe that excellence to be part of the job, so tips are not accepted.
Tip if you're provided with above standard service, don't if you're not. What's hard about that?