My son slept with me until he was in preschool because he was afraid to be alone. There's nothing, no law no body that would make me let my child be afraid when he needed to sleep! Why let them have anxiety and fears when they need rest it's just wrong. We bring them into the world it's our responsibility to make them feel secure.
I did see a talk show where some larger men held their babies and accidentally smothered them, and they were totally torn up it was horribly sad.
So I think it's a matter of safety. My child weighed 10lbs 3oz, I weighed 100lbs soaking wet. So my son was safe and I gave him more security until he wanted a night light and a "big boy bed" and his door open.
In the case of a larger person and a tiny baby I think it's safer to sit up in a recliner until they can go into a bassinette and maybe the parent could just put their hand on their back so the baby feels secure and can sleep. (Daddy's hands are big and warm on their backs thus comforting)
Also a lot of new parents don't realize that wrapping a baby snug with their baby blanket gives the baby a since of being held and almost coddled as they were in the womb. It's another reason bassinettes are good because they are closed in and not so big and open to the bright world. Freud wrote child birth is a baby's first real trauma being brought from the save haven of the womb into a huge unknown place. I think yes it's good to co-sleep with your baby if you can make sure there is no possibility of harm.