I don't know your definition of co-sleeping. Some consider it bed sharing and some just in the same room.
But until our son was about 8mos old, he was sleeping in a swing in our room. As soon as he fell asleep, we would turn the swing off.
At about 8mos, we took a long weekend to get him adjusted to his crib completely and in another room.
If he started crying, one of us would check his diaper and make a bottle if it sounded like the "hungry cry". And sometimes all he'd need is some comfort of rubbing on his belly or head. There were a couple times that we had to bounce his mattress a little to help him relax... Like he'd have felt when I was walking while he was in the womb. But unless he needed a diaper and bottle, he didn't get out of the crib. After about 4 or 5 days, he got used to it and now at 2, he won't sleep in anything but his crib while at home.
ETA- I put our son on a schedule the best I could too.