Yes, there are, and they are indicated for dogs that have problems with their joints. However, even if Fido has not yet shown signs of old age, by moving less, and being less active, it is not a bad idea to start feeding him a type of dog food that contains these two ingredients, for prevention purposes.
Once dogs hit a certain age, they tend to be less active, because their joints hurt. By having enough glucosamine and chondroitin in their diet, these dogs can maintain healthy joints for a longer time, and they can be more active, too.