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you may only have one companion at a time although it is possible to have a main fighting character (Fawkes, Charon, Star Paladin Cross,etc) and Dogmeat at the same time
locaions of main companions: Star Paladin Cross: The Citadel (Good karma, must complete The Waters of Life) Charon: Underworld (Any karma, must kill someone for Azrukhal for his contract) Fawkes: Museum of History (Good karma,must complete The American Dream) Jericho: Megaton (Bad karma)
location of Dogmeat: Scrapyard, dogmeat will search for any nearby weapons, chems or ammo for you but you must use stimpaks to keep him healed, he does not just regain health like the others.