Is tipping for all service or only good service.

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I recently went to the supermarket. My Aunt my nephew and myself, I bought groceries for my home and she bought for her home. The Supermarket hires packers who also take your grocery to the car for you and normally I tip them. The packer called to assist on on this day however, was unpleasant and unhelpful, he complained about the quantity of grocery we bought because it included two cases of soda and he wanted my thirteen years old niece to lift it and pass it to him. He complained of being tired, of wanting to go home, he stood chatting with his friednds while we waited. When we got to the car he did not help to pack the groceries into the trunk, he stood by and observed the process. At the end there was a bag of bread left we had picked it up at the instore bakery. He decided to help with that and picked it up asking us where we wanted it. my cousin reached out her hand for it and he held it back stretching out his other hand for a tip. Now in the store I had taken out a tip for him, but his whole attitude changed my mind. He knew I had money in my hand because I walked out the store with it in my hand but I changed my mind i took the bread since he did not want to give it to my cousin asnd I said thanks and we left. I don't feel the need to tip for bad service. This was my one bad experience at that grocery though. Normally the helpers are the best. Ps. I was telling my friends about him and they said he worked at another store but was fired for that same reason. Should such a person be tipped.