Co-sleeping/co-rooming

I'm only about 8 weeks pregnant, but I think I want to breast-feed and have the baby in the room with us for the first six months (ish). I won't have the baby in the bed with us forever, but I would like it to be near me/DH for a while. I've looked at Dockatot and pack-and-plays with the bassinet option, and even a DIY option with and Ikea crib. I don't want to spend more than about $300 on both the cosleeping and the crib. Two more caveats is that I'm not 100% sure that I wake up if I roll onto our baby, so no just sleeping in the bed with her, and I would like to be able to reach her without getting out from under the sheets. Any suggestions, advice, council? Am I chasing a false dream?