Do you have any sort of bar at all? They make them that mount on exposed beams in ceilings, on joists, on walls, or even in doorways. There is even a freestanding one available at amazon that breaks down and stores easily.
People of any height can use the same bar. The short ones may have to climb a stool to reach it, and the taller ones can just bend their knees when using it.
I have one mounted on a naked wall in my dining room.
Watch some videos on YouTube for some options if you really can't get one.
do pullups anywhere - YouTube