You should try some time to let your maid to take care of your baby in order to have romance with you hubby although this is not the main point of a couple however it is a very important between the relationship.
Why not do it just after your child sleep? Yes, sometimes the bably will cry in the middle of your action, just don't get frustrated.
How old is your child? I would suggest in long run you should plan to sleep with your husband, not your child - I do think seperate sleep do more damage than just the sex issue.
Yes, it's hard - your may have to feed the boy e.g. at 23:00, 3:00 and 7:00 plus some extra.