My 22 month old loves to sleep in the bed with Mommy and Daddy, and loves to have his "Nanny" (my husband's grandma watches him every day) hold him while he naps. She even did the same thing you did--taking his crib down and setting up a twin bed so she could lay with him, in the hopes that he would go to sleep. Of course, it didn't work.
Then one day my friend Aimee watched my son. She's great with kids, but she's not the warm and fuzzy types that he's used to. I had warned her that she may have trouble getting him to nap. When I came to pick him up that day, I was expecting to see her at wit's end. Instead, she happily reported that he had taken a nap for 2 hours, all by himself! She told me she read him a book, then told him (matter-of-fact) that it was naptime. She laid him down on the bed, and when he started to whine she simply said 'No crying' in a nice but firm tone. Then she left. No hovering, no laying with him, no nothing. And once he figured out that Aimee wasn't going to play his little game, he went right to sleep.
Since then, Nanny has instituted this policy with great results (it helped that she began putting him down on her bed, which has less light and toys to keep him awake). I have also started putting him down in his own bed at night. We get a bath, brush our teeth, then while he lays down in the crib (on new Spiderman sheets that he's very proud of) we read the same two books every night. He still cries once he realizes that I've finished the second book, and he begs for me to take him into our room to go "night-night." I think part of this is that he misses how much cuddling we did before he went to bed before (which I'm going to work on spending more time with him before bed). Part of it is also due to my husband, who works second shift. When he comes home at night, it wakes my son up. Rather than struggling to get him back to sleep, he just plops him in the bed with us (I think he secretly likes spending that time with us, too). But no matter what, I'm sticking with putting my son down in his own bed at night. I know that after a while, he will figure out that this is just the way it is and he'll stop crying, just like he did for Aimee.
Hope this helps! And good luck with your husband coming home soon. I know you can't wait! My husband was in Iraq for 8 months, so I now how stressful this time can be. We didn't have children at the time, and I don't know how I would've survived if we did. It takes a lot of guts, that's for sure. God Bless!