Does your LO sleep on a mattress on the floor?

So my girl is 5.5months old and her sleep situation is near about breaking me. The only thing that works for us has been cosleeping/bedsharing. It’s the only way I can get a night’s rest.

BUT I hate it. I don’t want to bedshare.

I think the closest alternative is to set up a mattress on the floor for her in our room. That way I can try and slip away once she falls asleep.

Have you done this? Does this work for you? Any tips and suggestions for safety?