Feeling torn about sleeping

I feel so sadden by the fact that I can't cosleep with my LO. My mom encourages me to give my daughter the warmth and comfort she needs by being close to her at night. On the other hand my MIL says absolutely not because we might crush her. I agree with my mom and my husband with his mom. My husband seems like a light sleeper but I've seen him accidentally threw his arm over her once on the couch. My daughter shares a room with us but sleeps in her own crib. I don't know if it's just my own thinking but I feel my daughter gets scared when she can't see me or her dad. When she sleeps near me she sleeps better. Since my husband won't let her sleep on our bed when my daughter wakes up in the morning around 3 to nurse or 5, I move her to the bed. In addition our bed is quite small I would def like a larger bed. I can't wait till my daughter is older so I can cuddle and snuggle with her. But this whole i cant co-sleep with my baby makes me sad. I feel much more comfortable when I can see her with my eyes. Tonight my daughter has a hard time sleeping in her crib so i held onto her. I looked at her tiny face and felt so heart broken so i asked my husband to camp out in the living room with me. I had baby sleep on the couch and I put up the air bed right next to the couch. I really want to cosleep, what are some things I can do? I thought about a SwaddleMe By Your Side Sleeper but our bed is too small and baby is growing tall so it may not be worth it to buy that sleeper. *sigh* I am a worried mom who just wants to be close to her daughter.