diff --git a/nav_msgs/CMakeLists.txt b/nav_msgs/CMakeLists.txt
index e1a77a63..86fedb49 100644
--- a/nav_msgs/CMakeLists.txt
+++ b/nav_msgs/CMakeLists.txt
@@ -21,6 +21,8 @@ set(msg_files
   "msg/MapMetaData.msg"
   "msg/OccupancyGrid.msg"
   "msg/Odometry.msg"
+  "msg/PoseParticle.msg"
+  "msg/PoseParticleCloud.msg"
   "msg/Path.msg"
 )
 set(srv_files
diff --git a/nav_msgs/README.md b/nav_msgs/README.md
index 16cff99e..8c011b7a 100644
--- a/nav_msgs/README.md
+++ b/nav_msgs/README.md
@@ -11,6 +11,8 @@ For more information about ROS 2 interfaces, see [index.ros2.org](https://index.
 * [MapMetaData](msg/MapMetaData.msg): Basic information about the characteristics of the OccupancyGrid.
 * [OccupancyGrid](msg/OccupancyGrid.msg): Represents a 2-D grid map, in which each cell represents the probability of occupancy.
 * [Odometry](msg/Odometry.msg): This represents an estimate of a position and velocity in free space.
+* [PoseParticle](msg/PoseParticle.msg): This represents an individual particle with weight produced by a particle filter.
+* [PoseParticleCloud](msg/PoseParticleCloud.msg): This represents a particle cloud containing particle poses and weights.
 * [Path](msg/Path.msg): An array of poses that represents a Path for a robot to follow.
 
 ## Services (.srv)
diff --git a/nav_msgs/msg/PoseParticle.msg b/nav_msgs/msg/PoseParticle.msg
new file mode 100644
index 00000000..294bbd17
--- /dev/null
+++ b/nav_msgs/msg/PoseParticle.msg
@@ -0,0 +1,5 @@
+# This represents an individual particle with weight produced by a particle filter
+
+geometry_msgs/Pose pose
+
+float64 weight
diff --git a/nav_msgs/msg/PoseParticleCloud.msg b/nav_msgs/msg/PoseParticleCloud.msg
new file mode 100644
index 00000000..a6d609f6
--- /dev/null
+++ b/nav_msgs/msg/PoseParticleCloud.msg
@@ -0,0 +1,6 @@
+# This represents a particle cloud containing particle poses and weights
+
+std_msgs/Header header
+
+# Array of particles in the cloud
+PoseParticle[] particles