If the dog owner pours water (carried from a water bottle) then the urine won't burn the grass. Maybe suggest that dog walkers carry water to pour, so that it is just watering your yard, not harming it. Nothing you can do about dog urine.
I have, however, been know to return the #2 to the rightful owners yard! If I catch someone leaving it in my yard, then it will be returned to them. I don't have dogs for a reason. I love dogs...dont get me wrong, but if I wanted to spend my time picking up poop, then I'd have a dog of my own.