7 month old sleeping in bouncer

I know it sounds terrible, but when my son turned one month old he stopped wanting to sleep in his bassinet, I wanted him still to be close to me so I put him in his bouncer and found he sleeps way better in it...but now he is 7 months old and he is still sleeping in his bouncer at night. I use to have him sleep in his pack n play for a little bit but he stopped sleeping well in that so I put him back. I feel like a failure as a mother. I tried putting him in his crib and he was good for a few hours but he was crying and i let him cry for about 5 mins, check, then 5 mins but he was crying like he was terrifed and it broke my heart so bad. My question is, is it okay? I know it's not "acceptable" for a baby to sleep in the bouncer but hes finds comfort in sleeping in it so I let him. Of course I eventually will have him move to his own bed/crib but right now I'm just thinking is there actually anything wrong with it? The only people who give me crap about it is my mom and dad but other than that no one seems to care. I would love some opinions and advice please!