Put out the kind of bait traps that are like little "motels". Put them in cupboards, behind the refrigerator, and anywhere else your pets cannot get to them. I have done this, and had no problems with my dog or cat getting into them. This kind of trap has the stuff they will take back to all of the other roaches and kill them over time.
Here is some more tips based upon my experience.
Don't leave ANY standing water around (kitchen sink, bathroom sink, tub, ect.) Wipe these surfaces down after you are done. Since you have a pet this becomes complicated. Make sure they have plenty of access to water, but keep it away from the roaches because they need water to survive.
Clean your kitchen, or anywhere else where there is food. In your cupboards throw out anything that is open that they can get into (cereal boxes, bags of chips ect.) Put all of your food in the refrigerator that you can because they won't get in there. Keep in mind your pet food also, they like this too!
Do all of your dishes as soon as you are done with them. Don't even leave them in the dishwasher, because I've had them get in there too! My husband and I used paper plates and plastic silverware until our problem was taken care of.
Take out your trash often. Everyday in fact until the problem is gone.
Kill as many as you possibly can, but for every one you see there are a 100 that you don't.
Even the cleanest people can still get them. Gross.
Good luck, those suckers are nasty!