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One way to do it is with bfl (the Bayesian Filtering Library)which is part of the Orocos project and bundled with ROS. This is what packages like robot_pose_ekf use at their core. They even provide examples of how to write a particle filter for a mobile robot in their getting started guide.

I have used this library directly when pre-existing nodes don't quite provide what I want with very little trouble. Hope that helps!

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