Restaurant tipping in Europe?

Rick Steves says that restaurant services generally are included in
the final bill and that tipping should be limited to either leaving
just loose change (e.g., rounding up to the next Euro) or none at all.
He mentioned that the U.S.'s culture of tipping 15-20% is definitely
regarded as "ugly American" to Europeans. I'd certainly like to avoid
that pitfall.

During my last trip to Europe (almost 30 years ago), I thought I
recalled that each country had different tipping practices. Has the
EU created uniformity on tipping within EU countries?

We'll be visiting Ireland, Netherlands, Belgium, France, Italy,
Austria, Switzerland, Germany, Denmark, Sweden and Norway for our
10-week Spring trip.

I'd appreciate any guidance you may have on restaurant tipping (and
other services, too, please!) while we're traveling.

Thanks much for your help.

Stan