Restless baby when co-sleeping

[jlms]

I would like to co-sleep with my baby (she is 6 months old). However, it seems like she only lasts a few hours and then starts shifting in bed, until she wakes herself up, and I have to get up and put her in her swing. I still swaddle her because her arms are very jerky when I don't. I try to keep the temperature just right so that she is not too hot. I wonder if swaddling her is making her too uncomfortable when she is in bed with me? Has anyone experienced this? and if so, any good tips on making her more comfortable and able to stay asleep with me all night? THANKS!!

[TXmom2]

My LO does this sometimes. She sleeps with us about 2-3 nights a week and the other nights she sleeps in the pack n play next to our bed.
There just seems to be some nights that she wants her own space and will toss & turn until I put her in her own "bed" and then she sleeps fine

As far as swaddling...we stopped that around 3 months (sorry no help) but have you tried not swaddling her when she's in bed with you?