There’s nothing wrong with it and actually midwifes and even the lullaby trust recommend ‘ if it’s done safely’. It’s far safer to share bed that’s been set up with no pillows near baby or duvets on bed, than parents falling asleep from sleep deprivation on sofa with baby.
My HV is brilliant and when I told her that we co-sleep she said that was good because getting a decent sleep helps you deal with whatever the daytime throws at you and she offered to show me how to do it safely. At that point I confessed I'd co-slept with all four DC 
Of those of you that co sleep - does the child ever sleep in their own bed? So do you at least get some alone time when they're napping or when they first go to bed, and then they eventually end up in your bed? Or how does it work?
This is based on my DC when they were babies.
I would do bedtime at around 7pm with bath/wash, sleepsuit, and a feed then into the moses basket or their cot (when they were bigger). When they woke up for their next feed at anywhere between 10pm and midnight, they'd go into my bed from that point onwards and stay for the rest of the night. If I needed them out of the bed for any reason - if I or DH was ill or either of us had a drink or we wanted the bed for adult time, etc- then they had their cot that I could lift them into.
Once they got past the stage of needing/wanting a feed in the night, so basically once they were weaned, I used to start them off in their own bed at bedtime and then they were allowed into my bed if they woke up during the night. They all transitioned to sleeping in their own beds all night and now its only the youngest who still comes in but she no longer comes in every night so I think she'll altogether stop soon.
I didn't really go away overnight when they were small as I was breastfeeding but the occasional night away I did have they were happy to co-sleep with DH and have expressed milk. When they got older and went for sleepovers at my parents house they would co-sleep with my mum instead.