Both of mine (now 20 and 16) co-slept with me and both times it was the best thing for us. After waking up in an absolute panic with newborn baby half way down the bed under the duvet after falling asleep breastfeeding, I did what kenandbarbie did and made a safe little nest for her, so that she could come into my bed when she woke for her nighttime feed, with her cot by my side for when she needed her own space, and to go down in at bedtime and sometimes after last feed of the night. No crying in the night, no stumbling around in a stupor, no regrets whatsoever. We all slept soundly and loved the quiet bonding night-time experience it created.
When both babies were about 14 months and old enough to understand, we showed them their new rooms before moving them in gradually, and they both seemed genuinely excited to go into their own bedrooms. By this age they were confident and trusted that if they woke in the night we'd be there for them (monitor on to hear any calls)
I can reassure you that as an intuitive parent, nothing you do to keep your tiny baby happy will be making a rod for your own back (except perhaps giving it vodka or fixing an Ipad to the end of the cot). The number of times people said that to me
with regards to picking up baby the minute they cry, co-sleeping, demand feeding... endless outdated crap or raised eyebrows from my own mother, the health visitor, a great aunt, even my older sister. In your instance, the health visitor should keep her silly opinion to herself, and stick to the usual statement, which is that they don't advise it. But go for it, you won't look back x