Help with sleep!

Help!! My baby is almost 6 months old and I still can’t get her to sleep in her crib or pack and play. She would only sleep in her rock and play since day one and that’s where she still sleeps. I have tried naps in the crib but they only last for about 30min. I tried the pack and play right next to my bed last night and all she did was cry. I would lean over, assure her that I was right there, touch her chest, give her pacifier but all she did was scream. This lasted three hours before I gave up. I work full time and needed some sleep. Does anyone have any advice?!? Oh I even tried that magic sleep suit.. yea real magical.. she hated that too!