Mine eat almost any fruit and veg. and have some, raw and blitzed, with their raw meat most days. They also sometimes have a bit of cooked leftover veg.
Things to avoid -
Onions, raw or cooked.
Raw potatoes.
Raw runner beans
Tomatoes in any quantity if you have an arthritic dog.
Corn on the cob as corn cobs are one of the most common blockages that vets have to remove. A bit of sweetcorn off the cob is OK.
Large quantities of fruit or any sweet veg. such as carrots
I mix, blitz and freeze mixes that can include carrots, broccoli, lettuce, green beans, peppers, celery, tomatoes, cauliflower, apples, pears, soft summer fruit. Another favourite is sweet potato, but I've only ever fed it cooked when I've been cooking it for me. I think it's OK raw though.
Canned pumpkin is always in my store cupboard. It's excellent for both constipation and diarrhoea in dogs. Libby's do an unsweetened canned pumpkin that's available in Waitrose and Tesco.