To drift back to the OP – get a pack of biodegradable poo sacks, keep a couple with you and as someone’s already said, hand in the sack, firm but light grip on poo, turn back inside out, tie a knot in it and bin it.
In reality, how often you have to do it depends on where you walk your dog – we live in the country, so I tend not to bother chasing them into the undergrowth to collect their dump. If they poo on the path, I pick it up. If I was in a public park, beach or some similar spot, I bag it and bin it. The smell is the worst bit and you get used to that – think I remember gagging a bit when she was a pup though.
The other thing is “the bigger the dog, the bigger the turd”, so you may want to pick your breed accordingly. I’d hate the thought of trying to bag a St Bernard’s output!!