integrating XYZ sensor with Turtlebot... ?

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Hi I would appreciate much if you can give me a north on how to integrate a sensor which gives me x,y and z coordinates data with the Turtlebot robot using ROS. I guess the robot_pose_ekf package is a good place to start.

We have the sensor. it is a non commercial sensor. it just gives me the spherical coordinates with respect to a fixed beacon. I can convert these to cartesian coordinates. I would like to integrate this data as part of ROS odometry and use it for the Turtlebot.

I would appreciate much your response.

Regards, Luis.