When we go outside to potty I have a small ziploc bag in my pocket that contains two paper towels inside - one wet and one dry. The dry one is for scooping the poop and the wet one is ready for a quick wipe down, if needed. I find it is easier to wipe right away rather then letting it dry and get stuck
Now that he is groomed (first time this past week) pooping is considerablly cleaner because his bum is shaved. Typically there is nothing to wipe... His poops are very solid so we don't usually have too much to wipe - I think it is his morning yogurt that helps out with the consistency factor!!