I saw this food storage system online and found it incredibly efficient and easy to use. The cans get loaded onto the top and it rolls down to the lower shelf where you pick it up. No more expired canned food getting left out and forgotten in a cupboard corner.
Another way to manage condiments and other stuff is a double layer rotating lazy susan. Just twirl it around to find what you are looking for.
A pull out shelf is another way, but you can't see the items in plain sight.