My personal opinion is that the advantages of co-sleeping far outweigh the risks. It is much less stressful for both the parents and the baby. My wife simply slept topless, turned (half-sleeping) to our baby whenever it was crying, and immediately fell back asleep.
And it was fantastic. No crying, no separation anxiety. Feeding was easy, so we all slept well.
We went from sleeping 2 hours per WEEK (I cannot describe to you how it felt), to getting 8 hours on the first co-sleep.
Never looked back.