I applaud you for co-sleeping with your baby. They sleep so well when they know they are safe. Don't listen to the "let 'em cry it out" crowd - that's cruel! For thousands of years babies have cried to make sure their mothers were close by when they slept so they wouldn't get eaten by jackals. It's biologically hard-wired. (I'm not making this up, either. See "Our Babies, Oueselves" - Meredith Small). She just wants to feel safe.
I have a futon (just the matress part) on the floor in the kids' room, instead of a bed, and I can lie down next to my baby (18 months) and that helps him fall asleep for naptime, although you could just take a twin matress and put it on the floor (or crib matress, though it's not as comfortable for the adult). You can start off by having it in your room, if that helps.
Besides, at 17 months, your babe may be able to crawl out of a crib and take a nasty fall. (I saw a 15-month old with a cast on her arm a few weeks ago - she fell escaping her crib. That family also put the matress on the floor)
I happened on the futon idea because I had one laying around, and started using it for daytime naps - I usually co-slept with the baby and he falls asleep more quickly with me next to him (we joked that he would wake up whenever someone wasn't breathing on his head.)
Not only can you lie down next to them while they drop off, but if they roll off the edge, onto the carpet, they won't get hurt (they may not even wake up!)
Like I said, I happened upon this idea, and later, I found out that the futon-on-the-floor model is popular in Japan (more futons in general), it is also recommended in some of the Montessori books, because it's easy for kids to get in and out by themselves, and, most importantly, you don't have to worry about the arm getting caught in the rail of the toddler bed. (There was somthing in the news about kids breaking their arms in toddler beds just about the time I was about to get one for my now-four-year-old. So I kept the futon.)
Now its a good place for storytime and it's big enough (full-size) for both my boys to curl up together. (Although, now that it's winter, the four year old usually climbs into my bed in the middle of the night. Another reason I think everyone should learn how to co-sleep safely - whether it's monsters under the bed, cold weather, nightmares, or a bad storm, eventually almost every kid will want to spend a night in Mom's bed.)