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When my friend (the trainer) walks his dog, the dog looks up at him the whole time and if my friend stops, the dog instantly stops. That's the point I want to get to.
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Please be aware that formal attention heeling (which is what you describe above) is not rewarding for the dog, and quite difficult to boot. Good heeling is a great goal to aim for, but please don't require your dog to do this for more than a few steps here and there, the bulk of your walking should just be polite, loose-leash walking, which is fun for your dog and for you. A sure-fire way to make your dog HATE heeling is to do too much of it, in my opinion, it's just unreasonable to expect a dog to do attention heeling for a whole walk. I don't actually like attention heeling anyway, especially with a thick-necked dog like a Rottweiler, it's very uncomfortable for them, can cause gait problems, and they should be looking where they're going, they can watch you with their peripheral vision. It looks flashy, but it doesn't really take the dog's best interests to heart.
What I do to achieve polite, loose-leash walking is just stop walking when the dog pulls, and when he stops pulling, praise and walk on. If you don't give him something to pull against, he can't pull, and since he's usually going to be pulling to get somewhere faster, what you do is train him that pulling gets him there slower or not at all (if he doesn't stop pulling when you stop walking, turn around and go back a few steps).