Should the homeless have pets?

I know this may seem like a rough life for pet, its also a rough life for the homeless person as well. However, sometimes the pet is the only friend this person has. Their only true companion, I have seen a few homeless people with pets, and from what I saw these pets were well cared for and loved their master. So, I can't complain about this, because these type of life can be very lonely, and this pet is probably the only person they have.