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Make your walks more interesting especially as your dogs get older and can not go so far and even a car ride is not a regular option. Also if new to the area - get a local map - explore new routes - dog friendly parks - and also go and visit your local vet register your dog.
Take your dog different routes - they soon get bored of the same place - every day - vary your walks during the day - it also stops dogs from being too territorial  in their behaviour - especially when a new dog enters a place they consider their second home! Also you will meet more fellow dog owners and maybe get to go out together to investigate other interesting walking areas.

Also get creative - have your own 'agility course' in your garden - (Agility Clubs especially in the city are  hard to find) Make it suitable for your individual dog - senior dogs to little small dogs can take just as much delight in jumping over a low makeshift jump as a bigger or younger dog from a higher jump.  Some bamboo canes for a makeshift weave - and also check the internet for cheap but suitable agility equipment which is light and easy to carry and put away in your garden shed. In the summer I get out the old childrens plastic swimming pool - small enough for the garden but big enough for the dogs - they love it after a play in the garden and it keeps them cool.

Enjoy your walks but most of all your dog will enjoy them too and become more socialised and more mentally stimulated as well as physical

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Dog Rest is important when your dog has sustained an injury and as every dog owner knows 'Dog Resting' is not on their pet's agenda especially a young dog - and though a crate is an alternative to some - they still need that 'scent and smell of the outside world' - their wistful look at others playing in the park when they are allowed their 'first' ten minute walk on lead!!  No you are not their faviourite person -

Also you are then told by your 'wise and quite 'correct' vet that your dog must 'lose weight' or certainly 'not gain weight - so what do you do with a 'WannaBe BouncingLivewire' - Remember - No Jumping - No Chasing and no big interaction with their canine pals - and not even The Supervet to watch on TV - What a Dogs Life.

Dogs need mental stimulation as much as physical and more so if the physical is limited to block walks or around the garden and back ON LEAD -

I have been working with a beagle that has a back injury and after two weeks of bed rest is now on 10 minute walks - imagine her frustration - her main joy in life as a beagle is scenting - taking in the smells of the world! So we worked out to put plant pots in the garden filled with different scents from her usual walk put her on a fairly long lead (different from her walking lead) - letting her scent and smell - then just sitting outside with her - She actually seemed to be taking a deep breath of the smells around her and was calm.  Then again - a gentle sniff around her 'new scenting pots' and then rest.  On her block walk we took her away from the direction of the park - - a different corner of the street - stopping for five minutes and then turning back - again - a different corner of the street - stopping for five minutes - then back home.
NB Before we did this exercise his owner spoke to the vet to get his okay obviously we did not want to overdue it and hinder her recovery.