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I'm sure that ROS could do what you want to do. If your IR or sonar sensor is on a gimble or turret, you can easily use that system to "fake" a LaserScan message. All you need is the sensor and an encoder on the turret, and you have a cheap LIDAR (much slower of course). This could then be converted to a LaserScan message for use with the navigation stack.
Wheel odometry from the wheel encoders will provide fairly realistic odometry over short to moderate distances, provided that the robot's driving dynamics aren't outlandish (4-wheel skid-steer also poses a problem).
ROS provides this stack for the LegoNXT. If that robot can be used with ROS, there's no reason that yours can't.
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