I've never tipped before
Why haven't you tipped in the past?
I heard that people actually don't appreciate it
You should always tip at places where you eat.  Your servers actually depend on those tips for their livelihood, because they are paid less than minimum wage by the restaurant.
Do I have to? I'd rather go eat somewhere else. Tipping seems too costly.
It is expected that you be able to pay a tip when you receive services at a restaurant.