The laws that allow this have to change, and they only change if employees impose themselves to the bosses!
It is not the goodwill of the customers who have to pay for this service, but the boss of that waiter. The employer charged for the service to the clients, in this charge he must include the salary of the its employees.
In my country, although the waiters do not get paid on time and work long hours, they always know how much they will earn by the end of the day, and that salary is paid by the boss. The tips you can earn are an extra, never a salary!