We have never used a crib, I feel they are detrimental to nursing and development and also dangerous.
We have 4 kids, 2 of which are completely weaned from but still welcome in our bed and 2 who still either always or often sleep with us.
My youngest is 6 months too. He nurses most of the night and if he did not I would be in trouble since he is with me all day, but I am working full time and it would be hard for him to get enough with our schedule. For him we simply have a low to the ground bed. I put him in the middle and rarely leave him alone in it anyway. When he sleeps during the day he is in the baby sling with me or in a basket near me, so no danger of falling.
We did much the same with all him siblings. His next older sib is 4 and she sleeps sometime in her bed. ( which is a high quality mattress laid on the floor) and very often still sleeps in our bed. She transitioned nicely to being able to get out of bed herself. When she was old enough to get mobile we explained to her the dangers of falling off of the bed and we took the mattress off of the frame so that it was on the floor, with the box spring it was still a bit high for some one so small, so we also taught her how to turn and slide down safely on her own.
She too rarely slept in the bed alone at the time, so not a really big deal. At 6 months your baby is still not aware of him/herself as a person separate from mom and still does not have a totally mature breathing mechanism, so being with you is safest emotionally and physically.
Notice that crib death is CALLED crib death, there is a reason, babies rarely have these issues with a parent next to them. Your Baby is a smart boy and knows he needs to be wtih his parents. We never used a swing, but the sling will do the same for you, leaving your hands free to do what you need to do.
I would recommend the book, "Night Time Parenting" and "The Family Bed" for more information on how to do a transition and other options you may not have thought of.