I think it is possible that you can summon your beloved pet (or a representation of) in a lucid dream, however I think it depends on your relative skills in introspection (which include self-awareness, dream recall and control, etc.) in regard to how you may 'experience' or 'attain' it.
I have a lot of dreams which involve both my deceased parents, some of which are lucid. I have had the occasional 'conversation' with them too (although I'm very mindful that the subconscious mind is very powerful, where it is also capable of producing 'representations' based on previous memories of mine.)
I thought I would add that little disclaimer at the end.
I do find some solace in the majority of (but not in all the) dreams, although when you wake up the pain will still be there. (I.e. 'reality.')
Take it from me, if you are good at incubation, etc. (like Gab previously mentions) then this (action) can be carried on through, where the very least your beloved pet dog will be a trusted dreamsign for you, provided you are diligent enough to keep a regular Dream Journal. With practice you should be able to recognise (and act on) this.
Lucid dreaming of your pet can help you relive your memories of them, and if you get really good at it then you can experience all the tactile sensations, vivid visuals and empathy.
I still seek (and experience) too.
Sorry for your loss, and I wish you the very best of luck on your quest.
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