There are many roach killers that are safe for pets. They include boric acid, lime powder, cinnamon or cayenne pepper.
The roach killer that is best for your pets is boric acid. Boric acid leaves no residue around the house and will eliminate any future infestation, but this method does not work if you have an old colony established in a wall or under cabinets where they are hard to reach.
One option is to vacuum up the bugs and their eggs. It's important to be thorough in the initial vacuumings because eggs can hatch into larvae quickly. For people who prefer not to use pesticides or chemicals for their home pest control routines, a couple of other options might be worth trying out as well with either cinnamon and water solution or ground black pepper and water solution both work well at killing roaches.
You should not use poison to kill rodents because it will cause some serious health concerns for you and your family.