I haven't seen anything that is on the same level as the bed, so we are getting a crub, taking off one side, and attaching it to our bed, like a sidecar.
The one we registered for can convert to a toddler bed or a day bed. I was hesitent to go for the crib, but I also kinda got tired of MIL asking if we had registered for a crib yet. I tried to explain so many times that we were going to co sleep and wouldn't need one... but she didn't get it. Anyhow, I think this one could last us awhile, and we will just sidecar it to the bed for the first year or two. If it isn't flush with the bed, we will add a layer of foam under the crib mattress.
Another idea is to build up a mini bed unbetween your bed and the wall. My cousin did this using cinder blocks, plywood, and foam. It was a bit longer than crib size, and she loved it because then if baby is inbetween her hubby and her, she can roll onto the new addition and get some extra space.