Stepping in dog poop is annoying, but the health hazard is unknowingly ingesting or contact with the poop.
While walking around Chicago, I came across this sign that is unique in its clarity: Pet waste transmits disease (right, exactly as shown).
It goes straight to the point and informs the public of the real reason behind the need to clean after our pets in public places.
Dog poop can spread hookworms and roundworms, both of which can infect humans and have severe consequences: ocular larva migraines from roundworms; cutaneous larva migraines from hookworms.