You don't have to tip... especially if you are willing to just go up to the bar and ask for a beer.
However, if you don't want to have an empty beer for more than 30 seconds, or want someone to care about your service... bring a wad of $1 bills. Last time I was in Mexico, I tipped a couple waiters about $5, and from then on, it was "Hola, Senor! cerveza?" whenever they saw me without a beer. It was awesome.
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