Need help.

I attempted the CIO method on my 6 month old and I couldn't bear it for more than a minute. Please tell me what worked for you with little crying. I rock him to sleep, set him in his crib and within 5 minutes his startle reflex wakes him up. He can roll so I can't swaddle anymore. Please tell me your steps so I can try. Should I start with nap times? I have a routine. Bath, pjs, song, book. I have white noise also. I do not work so I don't mind spending as much time needed to comfort/calm.