It's sad that there are so many people that rely on tips - which are supposed to be a reward for good service - to be able to put food on the table or pay the rent.
I generally tip 15%-20% unless the service is really horrible. I also usually add a couple of bucks if I'm picking up a takeout order - which I think is unusual around here, because I always get thanked profusely!
I once dated a guy who refused to tip. We went out to dinner one evening... I didn't see the check, so I don't know if he tipped at the restaurant, but we took taxis, and I know he didn't tip either driver.