I would say that this isnt used, and would be considered a little rude. In most restaurants the waiter will come with the menu when you sit down, then leave you until he/she thinks you're done chosing. Then they'll come and recieve your order. Or else you have to go to the disc to order, and they'll come with your food. I havent experienced a single restaurant where "waiter" has been used or accepted. ;)
I found it interesting how in Danish "tjener" comes from "tjene" which means to serve, while in English it's "waiter" coming from "wait". No real epiphany here, I'm not sure where either words get their roots from, but it's funny how 2 words with the same meaning, have different feels to them. The tjener is there to serve you, and the waiter is there to wait for you (in this case, I'm thinking of the stay where one is or delay action definition of the word).
Well, to be fair, the "wait" in "waiter" most likely comes from the "wait on, serve" definition of the word ;)... But I do see your point, I just realised that I always sort of associate being a watch or sentry with waiting around more than doing the actual watching, since the Dutch words are so very close (also from the same origin I suppose): "wacht" or "wachter" for watch or guard (n.) and "wachten" for to wait (v.). Haha, interesting :D!