We have a very anti-kid-friendly dog and we didn't do much of anything. She was 4 when we brought my oldest home, and aside from setting up the nursery before hand, we didn't do anything else.
After the baby arrived, I did have my DH take a blanket home from the hospital that had been wrapped around DS and he let her get used to baby's scent. Other than being very curious when we brought him home and put him in the cradle (think of that scene in Lady and the Tramp with Lady standing up to get a better view) she left him alone - and that remained the status quo for the last 10 years (although they pet her now, so she loves them and guards them when they're playing).
Our routine changed, her routine changed, we all went with it. We'll do the same with our new baby (older dog will be 14 now and younger dog is about 6 - we've had her for two years - and never experienced a baby in the house). We'll bring a blanket home with the scent and that will be that.
It may sound like a heartless view, but bottom line - they are dogs. If either of my dogs has anxiety (i.e. if they are too spoiled) they'll spend more time outside. But I don't have the time or the energy to treat them as if they're glass and prepare for any and every possibility. My older dog will act the way she acted when we brought the first two home (although we'll probably get a "You did it again, didn't you?" look out of her!). The younger dog is a high-strung border collie, so she might be anxious about the change in routine, but she'll be fine with the actual baby (she loves kids). I think the only problem we'll have with her is that she will want to sniff the baby a lot - she loves new smells. Some people think of their dogs as kids, and that's fine, but even though I love them, my dogs know their place - which is that they are part of this family, but they do not rank higher than the people in it.
Honestly, my older dog had a harder adjustment with a new couch rather than a new baby because it altered her life - she could no longer be up on it.