I've co-slept with DD since day 1 - completely unplanned lol. I'm probably in a bit of a different situation to you in that my DH snores like a freight train, so most nights I end up in the spare bed (I'm a light sleeper, he's a dead to the world sleeper). When DD came along, we sort of just commandeered the spare bed as 'our' bed.

When she was little, the bed was so big I wasn't worried about her rolling off - especially before she could roll. The bed was against the wall and I bought some really firm pillows to put between the matress and wall so as there was no 'gap'.

Once DD started being able to move about, we plopped the mattress on the floor and put softer pillows all around the edge, so if she did roll of, she hit pillows first before floor. Course now she just speed crawls off LOL.

But of course, both of those don't help you... hrm.

A snuggle bed might be an option, so long as your bed is big enough. I bought one originally because I too was worried about the safety side of it, but it took up a lot of room between me and DH. On my own with DD it wasn't too bad, but it did make me feel 'separated' from her. And as you mentioned, doesn't do well with the feeding...

Hrm, I'm no real help am I...

Do you have something firm you can place against your side of the bed? IE a big chest of draws? You could put the back of the chest near the bed to create a fake wall. Course, you'd have to shove DH out the way any time you wanted out hehe. BTW, my DH wasn't comfortable with DD in between us either when we did it a couple of times (it's amazing what 'new mummy' can do to help you sleep through snoring!).

In regards to sleeping better - I sleep so much better beside DD than if I don't. In fact, I actually find it hard to fall asleep without her beside me, and the second I lie down with her - bam, out like a light.