I also don't agree with the practice of letting kids, especially beyond infancy, sleep with you. But, like a previous poster said, if it really works for your family, then go for it. I don't think co-sleeping is harmful (unless it's causing marital strain and resentment) but I think it's unnecessary. Babies don't have to sleep with Mom and Dad to be happy and secure. 
 
Another poster said her husband hates the arrangement. I think if one person is getting "jilted" and hates it, so to speak, you need to re-think it. Family harmony, not just the child's contentment, should be a higher priority. Because if this issue ends up mushrooming into huge fights, possible infidelity due to lack of intimacy, and possibly divorce, your child will have a broken home. 
 
We have always had our son in his own room. I tried the bassinet in our room for the first night, but nobody got much sleep. He woke us up, and we woke him up. So, early on, I just put him in his room and got up to feed him. He slept a lot in the beginning, so he was a good sleeper...BUT THEN came 2-4 months old! He no longer needed a night feeding, but now he had to learn how to go to sleep on his own. He just had to cry a little. We'd go in, pat his back then leave. We rarely picked him up. He started getting more aware and no longer content to doze all day like a newborn. So we couldn't rely on newborn tactics like rocking, because that would only stimulate him. 
 
Around 5-6 months, he started going to bed with a smile on his face and no crying. We remained consistent. There were bumps with teething, but we didn't overreact and ruin his good habits. Now he's 12 months and, while he occasionally protests bedtime, he goes to bed just fine 100% of the time. 
 
Sleep is a skill you need to help them learn. Some babies are easy to teach, but some are not. The difficult babies are the ones who MOST need this structure, because the more sleep-deprived they get the MORE difficult they become.