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You should be knowing the angle(bearing) where your ultrasound sensors are positioned. Say you have 4 sensors placed in a circular fashion with a relative angular displacement of 90 degrees. You can use the above data to manipulate the fields in sensor_msgs/LaserScan. Append the range measured in the 'range' field. In this case the 'angle_increment' is 1.57 radians.

If you already have a map, and want incorporate your sensor_msgs/Range in move_base, modify the existing obstacle_layer plugin to subscribe to a topic with message type sensor_msgs/Range instead of sensor_msgs/LaserScan.