Would you invite your elderly parents to live with you?

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We have plenty of room but our lifestyle is much different than my moms, yet my husband has mentioned a few times that maybe she should move in. She's nearing 80 and is in very good shape except that she doesn't see or hear as well as she used to. I worry a lot about her as a result and try to be more available whenever she needs me or just to hang out. The problem is that we have the animals and she doesn't mind them as long as they don't touch her or her clothes. She pets them sometimes and rushes to wash. It's kind of funny to watch. The second problem is my husband's shift work. Mom isn't a deep sleeper and once she stayed over at our house for a few weeks - it didn't work out well. She was cranky about our hours and couldn't understand why hubby doesn't come home and jump right into bed to sleep. He told her it just isn't possible for him not to sit and wind down first.... Then there's the religious matter. She's a very religious woman who attends mass each day and we are not so religious and attend mass on special occasions. It's a huge point of contention between us. So basically these are the main obstacles to letting mom stay with us. Now that I have shared these details, would it be wise to invite her to move in or should we seriously consider giving it much more thought.