Co sleeping

Well our son is about 18 months and still in bed with us!
I thought I might be the only crazy one out there but thanks to Google it lets me know I’m not!
I hate to hear him cry so putting him in his crib is extra hard.
Today I tried moving time in his crib I see if maybe he would fall asleep to it which he didn’t. He did enjoy the crib though which is a great start.
My husband is the one pushing the issue of him sleeping in his own bed which is much like the other cases I’ve read.
I totally understand that he’s a big boy but a part of me says … He will only be little for such a short time and I love that he always wants his momma!
Any advice?