Here in the Netherlands it isn't mandatory at all.
If you did a good job you can get it, but..... it's not nearly as much a requirement as in the US and I agree.
I mean if I come to a restaurant I have money for the food, not because somebody wants to take an extra couple of euro's with them home.
And that has nothing to do with being greedy, it has to do with what I come for in that restaurant: the food.
Of course it's the restaurant's faults too in the US, I heard they lower the pay and they expect tipping to make up for it, really pathetic.