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There were latrines, aka public toilets, in the Roman era... to the extent that Vespasian set out to institute a urine tax, and public urinals still hold the latter's name today in some countries.
They continued to exist afterwards into the middle ages. There may have been times where they weren't as commonplace as they could have been, but they most assuredly existed at least in towns and cities.
When in the countryside, methinks they did the same as they do today: pee on a tree.
Besides what amounted to pots, you'd have toilets in the yard as a hut (like the e.g. so-called "shit house" in "The Hateful Eight", the type of which still exists nowadays when there's no running water) and occasionally in castles. (You can do an image search for "medieval latrines" for more pics.)
(source: portapottyrentalpros.com)
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