diff --git a/geometry_msgs/CMakeLists.txt b/geometry_msgs/CMakeLists.txt
index 6d69d3af..be8af5ef 100644
--- a/geometry_msgs/CMakeLists.txt
+++ b/geometry_msgs/CMakeLists.txt
@@ -25,6 +25,7 @@ set(msg_files
   "msg/Point.msg"
   "msg/Point32.msg"
   "msg/PointStamped.msg"
+  "msg/PointWithCovariance.msg"
   "msg/Polygon.msg"
   "msg/PolygonInstance.msg"
   "msg/PolygonInstanceStamped.msg"
diff --git a/geometry_msgs/README.md b/geometry_msgs/README.md
index 3d6193a6..4630a0d2 100644
--- a/geometry_msgs/README.md
+++ b/geometry_msgs/README.md
@@ -14,6 +14,7 @@ For more information about ROS 2 interfaces, see [docs.ros.org](https://docs.ros
 * [Point32](msg/Point32.msg): The position of a 3-dimensional point in free space, with 32-bit fields.
 * [Point](msg/Point.msg): The position of a 3-dimensional point in free space.
 * [PointStamped](msg/PointStamped.msg): Point with reference coordinate frame and timestamp.
+* [PointWithCovariance](msg/PointWithCovariance.msg): The position of a point in free space with uncertainty.
 * [Polygon](msg/Polygon.msg): A specification of a polygon where the first and last points are assumed to be connected.
 * [PolygonInstance](msg/PolygonInstance.msg): A specification of a polygon where the first and last points are assumed to be connected. Contains an identification field for disambiguation of multiple instances.
 * [PolygonInstanceStamped](msg/PolygonInstanceStamped.msg): A Polygon with reference coordinate frame and timestamp. Contains an identification field for disambiguation of multiple instances.
diff --git a/geometry_msgs/msg/PointWithCovariance.msg b/geometry_msgs/msg/PointWithCovariance.msg
new file mode 100644
index 00000000..27cd8f1b
--- /dev/null
+++ b/geometry_msgs/msg/PointWithCovariance.msg
@@ -0,0 +1,8 @@
+# This represents a point in free space with uncertainty.
+
+Point point
+
+# Row-major representation of the 3x3 covariance matrix
+# In order, the parameters are:
+# (x, y, z)
+float64[9] covariance