we have a cot with one side removed up against our bed - DS sleeps there within arms reach of me. He usually wakes at around 6am for a feed - once he's done we go back to sleep together with him in my arms in our bed. We've done this since the day he was born. He's a very content and happy baby, and is also very independent and outgoing - happy to cuddle strangers and happily entertains himself playing several times through the day. Neither DH nor I have felt at all sleep deprived since he came along - it makes night feeds so much easier (I imagine!)
We do the same for DD after abt a week back from the hospital. She
was in her cot in our room coz DH was worried he'll squash her. But he got used to it. The best bit is cuddling her to bed & waking up with a smiley face looking at you.

Don't feel ure alone. There's more co-sleepers than u think. In Asia just abt EVERYONE I know co-sleeps. It's much more normal than its portrayed here.