I've seen lots of restaurants implement "no tipping" policies, only to revert back to tipping within a year or two. The reasons:
1. The higher base prices do have a negative impact on sales. 2. The best servers usually want tips, because they can make more at a tipping establishment.
In the past 10/15 years I've changed my attitude around tipping now that pretty much every place I go to "flips around the iPad", asking for a tip. I no longer really think of it as a reward for good service. At the end of the day, I can't imagine trying to survive in a major city on barista wages, and I can afford it, so I tip.