Sleeping with the baby is a controversial topic. There are legitimate concerns regarding the safety of the baby. I can’t speak to those with any authority, and of course think the safety of your baby is TOP PRIORITY.
I happen to be a really light sleeper. I also have a big bed, and have chosen to sleep with my baby. It makes waking up at night much easier, because she is right there, and I can just breast feeder her side-lying.
If you want to sleep near your baby but are nervous about bringing them into your bed I would look into Co-Sleepers. They are like a temporary crib that parks right next to your bed and basically serves as an extension of your bed. That way you have all the convenience of having your baby near you, but you do not have to stress about their safety!
Here is a good place to find potential co-sleepers