Health Visitors sometimes have outdated ideas... they are basically allowed to say what they like. Controlled crying has been shown to have harmful effects, but it's not illegal. Most proponents of controlled crying advise not to use it before 12 months, because before this babies don't actually understand that you are coming back. Lots of HVs also seem to have a very rigid one size fits all approach to parents' queries and don't always take other factors into account. This is often because they are pushed for time, which is a shame. They should have time to go through various options with parents so that they can work out which is best for their family - because one person's opinion is not necessarily going to be that best thing.
I think that asking for advice on mumsnet is a very good move because you will get many approaches - and yes, controlled crying might be one approach, and it might be the one you choose, but I think you deserve to know all the facts and all the options before going ahead with it. I do NOT think you're "crap" or have done anything wrong, you're clearly a lovely mum who wants to do the very best for her DS. I just feel you've been let down with bad advice in this instance, that's not your fault.
This is an article which cites research about possible harmful effects of CC
In your situation I don't think that controlled crying is a good move, TBH. Your DS has been sleeping in with you for six months and suddenly he is expected to settle in a cot (unfamiliar) in his own room (unfamiliar) and massaging his eyebrows and earlobes (This just sounds really strange!! Unless it's a comfort thing you've always done for him?)
If I were you I would just at least try to ease into this more slowly. Start with the cot in your room and see if you can settle him in here, if you want to stop co-sleeping. I'd probably cuddle him to sleep for now and put him in the cot when he's asleep. Then try to settle in the cot if he wakes by stroking him and making low, soft noises like "shhhh" or humming a familiar tune. If he really won't settle then bring him into bed - you can try to extend the time he spends in his cot over a while. Does he still have milk in the night? If he is then it's important to keep letting him have it while he is so small.
Good luck. I hope you find something which works for you and you get some more sleep soon! :)