Our two cats eat ground turkey mixed with Primal brand raw feline beef and salmon. Some days it's just the turkey, and I sometimes feed them raw beef scraps leftover from slicing it for jerky.
When we first had them, their poo was smelly and runny. It was a big problem. Once they went to raw meat, the problem went away the next day and never returned. They are still very young, and in excellent health.
Here's the Primal brand food they eat: http://www.primalpetfoods.com/product/detail/c/7/id/9
EDIT: One of the cats figured out how to pee in the toilet on his own. It's great except when you need to go and you have to wait for him to wash his paws.