diff --git a/WORKSPACE b/WORKSPACE
index c4f0148c..0d79e0f1 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -21,11 +21,9 @@ python_register_toolchains(
 
 load("@rules_python//python:pip.bzl", "pip_parse")
 load("@rules_ros2_python//:defs.bzl", python_interpreter_target = "interpreter")
-load("//repositories:pip_annotations.bzl", "PIP_ANNOTATIONS")
 
 pip_parse(
     name = "rules_ros2_pip_deps",
-    annotations = PIP_ANNOTATIONS,
     python_interpreter_target = python_interpreter_target,
     requirements_lock = "@com_github_mvukov_rules_ros2//:requirements_lock.txt",
 )
diff --git a/examples/WORKSPACE b/examples/WORKSPACE
index 24f43a6d..8df584a2 100644
--- a/examples/WORKSPACE
+++ b/examples/WORKSPACE
@@ -35,13 +35,11 @@ python_register_toolchains(
     python_version = "3.10",
 )
 
-load("@com_github_mvukov_rules_ros2//repositories:pip_annotations.bzl", "PIP_ANNOTATIONS")
 load("@rules_python//python:pip.bzl", "pip_parse")
 load("@rules_ros2_python//:defs.bzl", python_interpreter_target = "interpreter")
 
 pip_parse(
     name = "rules_ros2_pip_deps",
-    annotations = PIP_ANNOTATIONS,
     python_interpreter_target = python_interpreter_target,
     requirements_lock = "@com_github_mvukov_rules_ros2//:requirements_lock.txt",
 )
diff --git a/repositories/BUILD.bazel b/repositories/BUILD.bazel
index 8605492b..43f7e0a8 100644
--- a/repositories/BUILD.bazel
+++ b/repositories/BUILD.bazel
@@ -1,12 +1,9 @@
-load("@rules_python//python:defs.bzl", "py_binary")
-
 exports_files([
     "deps.bzl",
     "logging_macros.bzl",
     "generate_rclcpp_interface.py",
     "generate_rclcpp_logging_macros.py",
     "generate_rcutils_logging_macros.py",
-    "pip_annotations.bzl",
     "rclcpp_interfaces.bzl",
     "repositories.bzl",
     "ros2_repo_mappings.yaml",
diff --git a/repositories/pip_annotations.bzl b/repositories/pip_annotations.bzl
deleted file mode 100644
index 980a3b1b..00000000
--- a/repositories/pip_annotations.bzl
+++ /dev/null
@@ -1,14 +0,0 @@
-load("@rules_python//python:pip.bzl", "package_annotation")
-
-PIP_ANNOTATIONS = {
-    "numpy": package_annotation(
-        additive_build_content = """\
-cc_library(
-    name = "headers",
-    hdrs = glob(["site-packages/numpy/core/include/numpy/**/*.h"]),
-    includes = ["site-packages/numpy/core/include"],
-    deps = ["@rules_python//python/cc:current_py_cc_headers"],
-)
-""",
-    ),
-}
diff --git a/ros2/BUILD.bazel b/ros2/BUILD.bazel
index f0756bd3..8d1df61b 100644
--- a/ros2/BUILD.bazel
+++ b/ros2/BUILD.bazel
@@ -1,7 +1,9 @@
 """ ROS 2 common definitions.
 """
 
+load("@rules_cc//cc:defs.bzl", "cc_library")
 load("@rules_python//python:defs.bzl", "py_binary", "py_library")
+load("@rules_python//python:pip.bzl", "whl_filegroup")
 
 exports_files([
     "ament.bzl",
@@ -65,3 +67,17 @@ py_binary(
         "@ros2cli//:ros2lifecycle",
     ],
 )
+
+whl_filegroup(
+    name = "numpy_includes",
+    pattern = "numpy/core/include/numpy",
+    whl = "@rules_ros2_pip_deps//numpy:whl",
+)
+
+cc_library(
+    name = "rules_ros2_pip_deps_numpy_headers",
+    hdrs = [":numpy_includes"],
+    includes = ["numpy_includes/numpy/core/include"],
+    visibility = ["//visibility:public"],
+    deps = ["@rules_python//python/cc:current_py_cc_headers"],
+)
diff --git a/ros2/interfaces.bzl b/ros2/interfaces.bzl
index 602e015c..1ff2558f 100644
--- a/ros2/interfaces.bzl
+++ b/ros2/interfaces.bzl
@@ -824,7 +824,7 @@ py_generator_aspect = aspect(
         "_py_ext_c_deps": attr.label_list(
             default = [
                 Label("@rules_python//python/cc:current_py_cc_headers"),
-                Label("@rules_ros2_pip_deps_numpy//:headers"),
+                Label("@com_github_mvukov_rules_ros2//ros2:rules_ros2_pip_deps_numpy_headers"),
             ],
             providers = [CcInfo],
         ),