In order to complete the answer I was digging in my dictionaries and found this
Dogs usually bark.
Small dogs, pets and similar yap.
Wolves bay but usually at winter or just before the winter (with open mouths? up to the sky)
bhaisahab's right I think, about growling
Before to bit into a leg, just to warn someone to stop walking, showing their theets usually in anger, dogs do low rough sound what is called growling.
I think lions do roaring but not dogs. (they would be lions then or simiar animals

)
My advanced in years Orion do roaring with its wide open throtlle.
Dogs usually do woof, woof, woof, ....
