T.K.
Hello M.
Unfortunately once they can climb out of the crib you are supposed to either put them in a bed or get one of those toppers for your crib to help stop them from climbing out...which, I'm not sure they even make those anymore. Have you lowered his mattress as low as you can in the crib? If so then a new bed with a baby gate at the door to keep him from toddeling around the house would be an alternative to you sleeping on the floor. If you find yourself thinking you'd be sleeping on the floor next to him no matter what then save yourself some money and buy a bed big enough for the two of you and just skip the cute little beds that you'd be putting a baby mattress onto. Those are not big enough for two and you can always toss a full size mattress on the floor for the two of you.
Best of luck.
T.