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We moved my daughter to a floor bed at 8 months, and it was one of the greatest parenting choices I've ever made. No transition to a toddler bed hassle, ever. My next child will sleep in a cosleeper for as long as she's frequently nursing overnight, then she'll get her own little floor bed in my walk in closet, which will become a tiny bedroom for her. Then she'll move in with her sister when she's old enough.

With my first we did a floor bed beside our bed - it was actually between the wall and our bed, so if she was awake she wasn't wandering around another room. It was successful to nurse to sleep, but she got too stimulated after a few months, so around 12 months we moved her to a crib in her own room, which was an amazingly seamless transition. With LO#2 we made a cosleeper with an ikea crib, we just didn't put one side up. I can actually lay in it and nurse her to sleep. She's not into bed sharing the same way as my first LO was, so I wanted her to have a bit more room. As far as belly sleeping and bed sharing goes, as long as your little one was mobile, I wouldn't worry about it.

We did this for a while with our first (I wrote several blog posts about it. I can link to them if you haven't seen them!) At first it was great, but our little wild man just didn't stay in bed once he was mobile. He would fight sleep when he woke up in the middle of the night wanting to wander and explore, and he is really sensitive to becoming overtired. I have thought about doing it with our second, but I won't even consider it until she is solidly sleeping through the night.

ETA: we did move him to a floor bed at 18 months when he was sleeping through consistently and had absolutely no issues with the transition out of the crib. I wrote about that as well if you are interested.