how do you cosleep after baby can roll??

Okay, I never wanted to cosleep. I still don't. But if it's the only way I can get my baby to sleep at night and keep me from losing my mind, I'm going to do it. She's 2 and a half months and will start out in her bassinet until she wakes up and the only thing that calms her purple face is being in between my husband and me.
I need to know safe ways of making this happen and since she's near the rolling stage, I need "beyond newborn" solutions.
Again. I don't want to do this, so please don't make me feel worse than I already do.