I co-slept while breastfeeding (until DS was around 16 months and self weened), I didn't initially plan to but my DS fed so often that I just wasn't getting enough sleep.
As soon as I started co-sleeping he barely woke me and the situation all around was so much better.
OH wasn't comfortable sleeping in the same bed as he was worried he'd roll into me and inadvertently roll us off the bed, so we did move to a comfy single mattress on the floor (which put my mind at ease in case DS rolled onto the floor from a higher bed).
As long as you don't drink, smoke, and sleep in the right sort of position I really don't think there is a problem. I would say switch sides though, I would sometimes wake up very uneven if he only drank from one side that night.
Do your research and you'll be fine.