co sleeping

Ci
This question is for co sleeping parents with littles ones that can crawl or walk now.
My son is currently 6 months and rolls over a lot. My husband and I have put a bed rail on our bed so he doesn't roll out if he is near the edge. I am thinking future for when he starts crawling and walking. 
What do you do to keep them from crawling out of the bed etc? I don't want him to wake up while we are asleep and try to crawl out and get hurt.

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