As a previous foster home, private rescue, and dog owner, don't adopt out of guilt - EVER.
I have learned over the years that taking in an animal out of guilt is a disaster. You often end up with a pet that doesn't fit your life, personality, etc. But, because you CAN feel guilt, you also feel a responsibility for that animal you took in. So you end up spending years with a pet you really don't like.
And nowadays, many people adopt older dogs. So, it's OK to adopt that puppy if you really want it.
Over the years, I have adopted dogs who happened to come into my life. They have mostly been older dogs with issues. When I adopted Moose-dog, he was 8 weeks old. I just really wanted a puppy and to raise it my way. I will never regret it!
Him the day I got him:

Him as an adult (with his sister):
