Our dog yard is double shredded wood mulch, so pick up is easy. I used poop bags in the yard, so the garbage can that it is placed in, basically stays clean. I change the bag every week, when I take the garbage out to the curb. For walks, I used plastic t-shirt bags. All of our dogs poop right into the bag. Sometimes people applaud, but I am good neighbor. I just place the bag under the dog when they squat. Once in a while, I get surprised and am not ready, but you pretty much know your dog's body language. I put all those bags in a sealed garbage can next to the robo cans and put those bags out with the garbage, too. Seems like I have a lot of garbage cans, doesn't it?