Dogs on a raw and natural diet are not only healthier, but they have a nice hard feces, and a lot less of it, with very little smell. With an added bonus that it turns chalky white the next day and it disintegrates within a few days. They also pee a lot less and have less smelly urine (less toxins to get out of the body).
Try researching the BARF diet, or one similar to JULIETTE de BAIRACLI LEVYâ€™S. Basically lots of raw meaty bones (VARIETY being key here), grain-free, and add some pulverized veggies... though I will be taking this one step further and fermenting them along with some for myself thanks to what I've learned at the Weston A Price Foundation http://www.WestonAPrice.org/
Interesting info on diets
But you should start here before you read that page above: