Cosleeping ending

So I've been co sleeping w baby (or bedsharing as some would call it) since about 2 weeks pp. baby is 4.5 months now and beginning to roll both ways and move all over the place. Did anyone stop cosleeping bc of this and how did you go about getting baby in their crib? Me and SO already sleep on the floor some nights bc baby takes up the whole bed 😂😂