My one and only eperience was when we puppy walked a guide dog puppy for a year. My wifes family had had a number over the years, I felt that I was being trained as well as the pup.
Firstly take it out to do its business after its eaten, after its played and after it wakes up.
second get a whistle. blow the whistle before you give it its food and eventually make it sit, then put its food down, blow the whistle and then let it eat.
This means it will always come to the whistle especially if whenever you use it you give a treat. I still called it by name when on walks but if I wanted there immediately I blew the whsitle
Lastly and most useful was to train to go to the loo on command, I know it sounds weird but it works and is the reason guide dogs don't stop to relieve themselves on harness.
When you take it out to go after its eaten, after its played and after it wakes up repeat the phrase busy, busy, busy or busy boy, busy boy, then praise it and give it a treat when it doe the business, the dog then gets the message that busy boy means goes to the loo and you will praise it , and treat treat it and like a good pack animal it will want to please you .
You then a have dog who becomes cleaner quicker, will return to you when you need it, and less need to carry a dog mess though the streets because you get it to go where you want it to go and the walk is for fun.