I have known people who have used their full size crib as a side car attachment to their bed. They took off the rail, tied the sides to the bed, and stuffed the gap with a foam pillow. I have not tried it personally, but everyone who has says it works nicely.
You could also start with napping in her crib, and gradually move up to night time sleeping. If you rock/nurse her to sleep you can lay a heating pad on low in the crib, and move it when you lay her down so the bed is still warm.
The No Cry Sleep Solution is a good book to read, and offers a gentler approach to sleeping. Dr. Sear's Sleep Book is another gentle approach to sleeping.