diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 657bdd26..75ee97d7 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -62,15 +62,15 @@ jobs:
           - "gcc"
           - "clang"
         external_dependency_system:
-          # - bzlmod  # TODO: https://github.com/mvukov/rules_ros2/pull/238
+          - bzlmod
           - workspace
         include:
           - toolchain: "gcc"
             config_option: ""
           - toolchain: "clang"
             config_option: "--config=clang"
-          # - external_dependency_system: bzlmod
-          #   bzlmod_flags: --enable_bzlmod
+          - external_dependency_system: bzlmod
+            bzlmod_flags: --enable_bzlmod
           - external_dependency_system: workspace
             bzlmod_flags: --noenable_bzlmod
 
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 6e4e1920..974f793f 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,5 +1,4 @@
 default_language_version:
-  python: python3.10
   node: 18.16.0
 
 default_stages: [commit]
diff --git a/MODULE.bazel b/MODULE.bazel
new file mode 100644
index 00000000..bfb704c2
--- /dev/null
+++ b/MODULE.bazel
@@ -0,0 +1,111 @@
+module(name = "com_github_mvukov_rules_ros2")
+
+bazel_dep(name = "asio", version = "1.28.2")
+bazel_dep(name = "bazel_skylib", version = "1.5.0")
+bazel_dep(name = "boringssl", version = "0.0.0-20240126-22d349c")
+bazel_dep(name = "eigen", version = "3.4.0")
+bazel_dep(name = "fmt", version = "10.2.1")
+bazel_dep(name = "googletest", version = "1.14.0.bcr.1")
+bazel_dep(name = "libyaml", version = "0.2.5")
+bazel_dep(name = "lz4", version = "1.9.4")
+bazel_dep(name = "nlohmann_json", version = "3.11.3")
+bazel_dep(name = "platforms", version = "0.0.8")
+bazel_dep(name = "readerwriterqueue", version = "1.0.6")
+bazel_dep(name = "rules_cc", version = "0.0.9")
+bazel_dep(name = "rules_foreign_cc", version = "0.10.1")
+bazel_dep(name = "rules_python", version = "0.29.0")
+bazel_dep(name = "spdlog", version = "1.12.0")
+bazel_dep(name = "sqlite3", version = "3.42.0.bcr.1")
+bazel_dep(name = "tinyxml2", version = "10.0.0")
+bazel_dep(name = "websocketpp", version = "0.8.2")
+bazel_dep(name = "yaml-cpp", version = "0.8.0")
+bazel_dep(name = "zlib", version = "1.3")
+bazel_dep(name = "zstd", version = "1.5.5.bcr.1")
+
+python = use_extension("@rules_python//python:extensions.bzl", "python")
+python.toolchain(
+    is_default = True,
+    python_version = "3.11",
+)
+use_repo(python, "python_versions")
+
+pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip")
+pip.whl_mods(
+    # Keep this in sync with repositories/pip_annotations.bzl
+    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"],
+)
+""",
+    hub_name = "whl_mods_hub",
+    whl_name = "numpy",
+)
+use_repo(pip, "whl_mods_hub")
+pip.parse(
+    hub_name = "rules_ros2_pip_deps",
+    python_version = "3.11",
+    requirements_lock = "//:requirements_lock.txt",
+    whl_modifications = {"@whl_mods_hub//:numpy.json": "numpy"},
+)
+use_repo(pip, "rules_ros2_pip_deps")
+use_repo(pip, "rules_ros2_pip_deps_311_numpy")
+pip.parse(
+    hub_name = "rules_ros2_resolver_deps",
+    python_version = "3.11",
+    requirements_lock = "//repositories/private:resolver_requirements_lock.txt",
+)
+use_repo(pip, "rules_ros2_resolver_deps")
+
+non_module_deps = use_extension("@com_github_mvukov_rules_ros2//:extensions.bzl", "non_module_deps")
+use_repo(
+    non_module_deps,
+    "cyclonedds",
+    "foxglove_bridge",
+    "iceoryx",
+    "osrf_pycommon",
+    "pybind11",
+    "ros2_ament_cmake_ros",
+    "ros2_ament_index",
+    "ros2_class_loader",
+    "ros2_common_interfaces",
+    "ros2_diagnostics",
+    "ros2_geometry2",
+    "ros2_image_common",
+    "ros2_kdl_parser",
+    "ros2_keyboard_handler",
+    "ros2_launch",
+    "ros2_launch_ros",
+    "ros2_libstatistics_collector",
+    "ros2_message_filters",
+    "ros2_pluginlib",
+    "ros2_rcl",
+    "ros2_rcl_interfaces",
+    "ros2_rcl_logging",
+    "ros2_rclcpp",
+    "ros2_rclpy",
+    "ros2_rcpputils",
+    "ros2_rcutils",
+    "ros2_resource_retriever",
+    "ros2_rmw",
+    "ros2_rmw_cyclonedds",
+    "ros2_rmw_dds_common",
+    "ros2_rmw_implementation",
+    "ros2_robot_state_publisher",
+    "ros2_ros_testing",
+    "ros2_rosbag2",
+    "ros2_rosidl",
+    "ros2_rosidl_python",
+    "ros2_rosidl_runtime_py",
+    "ros2_rosidl_typesupport",
+    "ros2_rpyutils",
+    "ros2_tracing",
+    "ros2_unique_identifier_msgs",
+    "ros2_urdfdom",
+    "ros2_urdfdom_headers",
+    "ros2_xacro",
+    "ros2cli",
+    "ros2",
+)
diff --git a/WORKSPACE.bzlmod b/WORKSPACE.bzlmod
new file mode 100644
index 00000000..e69de29b
diff --git a/examples/MODULE.bazel b/examples/MODULE.bazel
new file mode 100644
index 00000000..09412cd6
--- /dev/null
+++ b/examples/MODULE.bazel
@@ -0,0 +1,66 @@
+module(name = "rules_ros2_examples")
+
+bazel_dep(name = "com_github_mvukov_rules_ros2")
+local_path_override(
+    module_name = "com_github_mvukov_rules_ros2",
+    path = "..",
+)
+
+non_module_deps = use_extension("@com_github_mvukov_rules_ros2//:extensions.bzl", "non_module_deps")
+use_repo(
+    non_module_deps,
+    "cyclonedds",
+    "foxglove_bridge",
+    "iceoryx",
+    "osrf_pycommon",
+    "ros2_ament_cmake_ros",
+    "ros2_ament_index",
+    "ros2_class_loader",
+    "ros2_common_interfaces",
+    "ros2_diagnostics",
+    "ros2_geometry2",
+    "ros2_image_common",
+    "ros2_kdl_parser",
+    "ros2_keyboard_handler",
+    "ros2_launch",
+    "ros2_launch_ros",
+    "ros2_libstatistics_collector",
+    "ros2_message_filters",
+    "ros2_pluginlib",
+    "ros2_rcl",
+    "ros2_rcl_interfaces",
+    "ros2_rcl_logging",
+    "ros2_rclcpp",
+    "ros2_rclpy",
+    "ros2_rcpputils",
+    "ros2_rcutils",
+    "ros2_resource_retriever",
+    "ros2_rmw",
+    "ros2_rmw_cyclonedds",
+    "ros2_rmw_dds_common",
+    "ros2_rmw_implementation",
+    "ros2_robot_state_publisher",
+    "ros2_ros_testing",
+    "ros2_rosbag2",
+    "ros2_rosidl",
+    "ros2_rosidl_python",
+    "ros2_rosidl_runtime_py",
+    "ros2_rosidl_typesupport",
+    "ros2_rpyutils",
+    "ros2_tracing",
+    "ros2_unique_identifier_msgs",
+    "ros2_urdfdom",
+    "ros2_urdfdom_headers",
+    "ros2_xacro",
+    "ros2cli",
+)
+
+bazel_dep(name = "rules_cc", version = "0.0.9")
+bazel_dep(name = "rules_python", version = "0.29.0")
+
+python = use_extension("@rules_python//python:extensions.bzl", "python")
+python.toolchain(
+    is_default = True,
+    python_version = "3.11",
+)
+use_repo(python, "python_versions")
diff --git a/extensions.bzl b/extensions.bzl
new file mode 100644
index 00000000..48910434
--- /dev/null
+++ b/extensions.bzl
@@ -0,0 +1,9 @@
+load("@com_github_mvukov_rules_ros2//repositories:repositories.bzl", "ros2_repositories", "rules_ros2_workspace_and_bazelmod_common_deps")
+
+def _non_module_deps_impl(mctx):
+    rules_ros2_workspace_and_bazelmod_common_deps()
+    ros2_repositories()
+
+non_module_deps = module_extension(
+    implementation = _non_module_deps_impl,
+)
diff --git a/renovate.json5 b/renovate.json5
index 7a99cf7e..f5e9564d 100644
--- a/renovate.json5
+++ b/renovate.json5
@@ -25,7 +25,7 @@
         "eigen",
         "foxglove_bridge",
         "nlohmann_json",
-        "openssl",
+        "boringssl",
         "pybind11",
         "rules_foreign_cc",
         "rules_python",
diff --git a/repositories/asio.BUILD.bazel b/repositories/asio.BUILD.bazel
index e7745b34..9e273d70 100644
--- a/repositories/asio.BUILD.bazel
+++ b/repositories/asio.BUILD.bazel
@@ -5,15 +5,10 @@ load("@rules_cc//cc:defs.bzl", "cc_library")
 
 cc_library(
     name = "asio",
-    srcs = glob(["src/*.cpp"]),
-    hdrs = glob([
-        "include/**/*.hpp",
-        "include/**/*.ipp",
+    srcs = glob([
+        "**/*.hpp",
+        "**/*.ipp",
     ]),
-    defines = [
-        "ASIO_SEPARATE_COMPILATION",
-    ],
-    includes = ["include"],
+    includes = ["."],
     visibility = ["//visibility:public"],
-    deps = ["@openssl//:ssl"],
 )
diff --git a/repositories/curl.BUILD.bazel b/repositories/curl.BUILD.bazel
index 58e81917..fa71afe8 100644
--- a/repositories/curl.BUILD.bazel
+++ b/repositories/curl.BUILD.bazel
@@ -104,7 +104,7 @@ cp ${BUILD_TMPDIR}/lib/libcurl.a ${INSTALLDIR}/lib
     """,
     visibility = ["//visibility:public"],
     deps = [
-        "@openssl//:ssl",
+        "@boringssl//:ssl",
         "@zlib",
     ],
 )
diff --git a/repositories/foxglove_bridge.BUILD.bazel b/repositories/foxglove_bridge.BUILD.bazel
index cf20f3e2..11482669 100644
--- a/repositories/foxglove_bridge.BUILD.bazel
+++ b/repositories/foxglove_bridge.BUILD.bazel
@@ -26,6 +26,7 @@ cc_library(
     includes = ["foxglove_bridge_base/include"],
     deps = [
         "@nlohmann_json//:json",
+        "@boringssl//:ssl",
         "@websocketpp",
     ],
 )
diff --git a/repositories/libyaml.BUILD.bazel b/repositories/libyaml.BUILD.bazel
index 8cde4200..54740039 100644
--- a/repositories/libyaml.BUILD.bazel
+++ b/repositories/libyaml.BUILD.bazel
@@ -20,7 +20,7 @@ expand_template(
 )
 
 cc_library(
-    name = "yaml",
+    name = "libyaml",
     srcs = [
         "src/api.c",
         "src/dumper.c",
diff --git a/repositories/pip_annotations.bzl b/repositories/pip_annotations.bzl
index 980a3b1b..2691d95a 100644
--- a/repositories/pip_annotations.bzl
+++ b/repositories/pip_annotations.bzl
@@ -1,5 +1,6 @@
 load("@rules_python//python:pip.bzl", "package_annotation")
 
+# Keep this in sync with MODULE.bazel
 PIP_ANNOTATIONS = {
     "numpy": package_annotation(
         additive_build_content = """\
diff --git a/repositories/rcl.BUILD.bazel b/repositories/rcl.BUILD.bazel
index 44aa9c1a..2a2258eb 100644
--- a/repositories/rcl.BUILD.bazel
+++ b/repositories/rcl.BUILD.bazel
@@ -13,7 +13,7 @@ ros2_c_library(
     includes = ["rcl_yaml_param_parser/include"],
     visibility = ["//visibility:public"],
     deps = [
-        "@libyaml//:yaml",
+        "@libyaml",
         "@ros2_rcutils//:rcutils",
         "@ros2_rmw//:rmw",
     ],
diff --git a/repositories/repositories.bzl b/repositories/repositories.bzl
index 73ed64a0..a55a6cba 100644
--- a/repositories/repositories.bzl
+++ b/repositories/repositories.bzl
@@ -8,8 +8,30 @@ load(
     "ros2_repositories_impl",
 )
 
+def rules_ros2_workspace_and_bazelmod_common_deps():
+    """Import http_archive dependencies needed for both the WORKSPACE and MODULE.bazel version of rules_ros2."""
+    maybe(
+        http_archive,
+        name = "pybind11",
+        build_file = "@com_github_mvukov_rules_ros2//repositories:pybind11.BUILD.bazel",
+        sha256 = "d475978da0cdc2d43b73f30910786759d593a9d8ee05b1b6846d1eb16c6d2e0c",
+        strip_prefix = "pybind11-2.11.1",
+        urls = ["https://github.com/pybind/pybind11/archive/refs/tags/v2.11.1.tar.gz"],
+    )
+
+    maybe(
+        http_archive,
+        name = "curl",
+        build_file = "@com_github_mvukov_rules_ros2//repositories:curl.BUILD.bazel",
+        sha256 = "230d61a4b1eb3346930f2d601cc8fe5237957163e16befbe15e0ef40c56767a2",
+        strip_prefix = "curl-curl-8_2_1",
+        urls = ["https://github.com/curl/curl/archive/refs/tags/curl-8_2_1.tar.gz"],
+    )
+
 def rules_ros2_workspace_deps():
     """Import http_archive dependencies for the WORKSPACE version of rules_ros2."""
+    rules_ros2_workspace_and_bazelmod_common_deps()
+
     maybe(
         http_archive,
         name = "rules_python",
@@ -29,18 +51,18 @@ def rules_ros2_workspace_deps():
         http_archive,
         name = "fmt",
         build_file = "@com_github_mvukov_rules_ros2//repositories:fmt.BUILD.bazel",
-        sha256 = "5dea48d1fcddc3ec571ce2058e13910a0d4a6bab4cc09a809d8b1dd1c88ae6f2",
-        strip_prefix = "fmt-9.1.0",
-        url = "https://github.com/fmtlib/fmt/archive/9.1.0.tar.gz",
+        sha256 = "1250e4cc58bf06ee631567523f48848dc4596133e163f02615c97f78bab6c811",
+        strip_prefix = "fmt-10.2.1",
+        url = "https://github.com/fmtlib/fmt/archive/10.2.1.tar.gz",
     )
 
     maybe(
         http_archive,
         name = "spdlog",
         build_file = "@com_github_mvukov_rules_ros2//repositories:spdlog.BUILD.bazel",
-        sha256 = "534f2ee1a4dcbeb22249856edfb2be76a1cf4f708a20b0ac2ed090ee24cfdbc9",
-        strip_prefix = "spdlog-1.13.0",
-        url = "https://github.com/gabime/spdlog/archive/v1.13.0.tar.gz",
+        sha256 = "4dccf2d10f410c1e2feaff89966bfc49a1abb29ef6f08246335b110e001e09a9",
+        strip_prefix = "spdlog-1.12.0",
+        url = "https://github.com/gabime/spdlog/archive/v1.12.0.tar.gz",
     )
 
     maybe(
@@ -52,15 +74,6 @@ def rules_ros2_workspace_deps():
         urls = ["https://github.com/yaml/libyaml/archive/acd6f6f014c25e46363e718381e0b35205df2d83.tar.gz"],
     )
 
-    maybe(
-        http_archive,
-        name = "pybind11",
-        build_file = "@com_github_mvukov_rules_ros2//repositories:pybind11.BUILD.bazel",
-        sha256 = "d475978da0cdc2d43b73f30910786759d593a9d8ee05b1b6846d1eb16c6d2e0c",
-        strip_prefix = "pybind11-2.11.1",
-        urls = ["https://github.com/pybind/pybind11/archive/refs/tags/v2.11.1.tar.gz"],
-    )
-
     maybe(
         http_archive,
         name = "rules_foreign_cc",
@@ -126,9 +139,9 @@ def rules_ros2_workspace_deps():
         http_archive,
         name = "asio",
         build_file = "@com_github_mvukov_rules_ros2//repositories:asio.BUILD.bazel",
-        sha256 = "b31c63867daaba0e460ee2c85dc508a52c81db0a7318e0d2147f444b26f80ed7",
-        strip_prefix = "asio-asio-1-27-0/asio",
-        urls = ["https://github.com/chriskohlhoff/asio/archive/refs/tags/asio-1-27-0.tar.gz"],
+        sha256 = "5705a0e403017eba276625107160498518838064a6dd7fd8b00b2e30c0ffbdee",
+        strip_prefix = "asio-asio-1-28-2/asio/include",
+        urls = ["https://github.com/chriskohlhoff/asio/archive/refs/tags/asio-1-28-2.tar.gz"],
     )
 
     # We're pointing at hedronvision's mirror of google/boringssl:main-with-bazel to get
@@ -136,7 +149,7 @@ def rules_ros2_workspace_deps():
     # support Bazel.
     maybe(
         http_archive,
-        name = "openssl",
+        name = "boringssl",
         sha256 = "cf1cfe0adb443ef96197b109292847c0a97304058af21f3488a323b51984608a",
         strip_prefix = "boringssl-e762bd792ab7fecb170bdb1cd96a0bfb0c9d3238",
         urls = ["https://github.com/hedronvision/boringssl/archive/e762bd792ab7fecb170bdb1cd96a0bfb0c9d3238.tar.gz"],
@@ -146,12 +159,9 @@ def rules_ros2_workspace_deps():
         http_archive,
         name = "zlib",
         build_file = "@com_github_mvukov_rules_ros2//repositories:zlib.BUILD.bazel",
-        sha256 = "d14c38e313afc35a9a8760dadf26042f51ea0f5d154b0630a31da0540107fb98",
-        strip_prefix = "zlib-1.2.13",
-        urls = [
-            "https://github.com/madler/zlib/releases/download/v1.2.13/zlib-1.2.13.tar.xz",
-            "https://zlib.net/zlib-1.2.13.tar.xz",
-        ],
+        sha256 = "8a9ba2898e1d0d774eca6ba5b4627a11e5588ba85c8851336eb38de4683050a7",
+        strip_prefix = "zlib-1.3",
+        urls = ["https://github.com/madler/zlib/releases/download/v1.3/zlib-1.3.tar.xz"],
     )
 
     maybe(
@@ -164,15 +174,6 @@ def rules_ros2_workspace_deps():
         ],
     )
 
-    maybe(
-        http_archive,
-        name = "curl",
-        build_file = "@com_github_mvukov_rules_ros2//repositories:curl.BUILD.bazel",
-        sha256 = "230d61a4b1eb3346930f2d601cc8fe5237957163e16befbe15e0ef40c56767a2",
-        strip_prefix = "curl-curl-8_2_1",
-        urls = ["https://github.com/curl/curl/archive/refs/tags/curl-8_2_1.tar.gz"],
-    )
-
     maybe(
         http_archive,
         name = "zstd",
@@ -186,18 +187,18 @@ def rules_ros2_workspace_deps():
         http_archive,
         name = "lz4",
         build_file = "@com_github_mvukov_rules_ros2//repositories:lz4.BUILD.bazel",
-        sha256 = "4ec935d99aa4950eadfefbd49c9fad863185ac24c32001162c44a683ef61b580",
-        strip_prefix = "lz4-1.9.3",
-        urls = ["https://github.com/lz4/lz4/archive/refs/tags/v1.9.3.zip"],
+        sha256 = "0b0e3aa07c8c063ddf40b082bdf7e37a1562bda40a0ff5272957f3e987e0e54b",
+        strip_prefix = "lz4-1.9.4",
+        urls = ["https://github.com/lz4/lz4/archive/refs/tags/v1.9.4.tar.gz"],
     )
 
     maybe(
         http_archive,
         name = "yaml-cpp",
         build_file = "@com_github_mvukov_rules_ros2//repositories:yaml-cpp.BUILD.bazel",
-        sha256 = "43e6a9fcb146ad871515f0d0873947e5d497a1c9c60c58cb102a97b47208b7c3",
-        strip_prefix = "yaml-cpp-yaml-cpp-0.7.0",
-        urls = ["https://github.com/jbeder/yaml-cpp/archive/yaml-cpp-0.7.0.tar.gz"],
+        sha256 = "fbe74bbdcee21d656715688706da3c8becfd946d92cd44705cc6098bb23b3a16",
+        strip_prefix = "yaml-cpp-0.8.0",
+        urls = ["https://github.com/jbeder/yaml-cpp/archive/refs/tags/0.8.0.tar.gz"],
     )
 
     maybe(
diff --git a/ros2/interfaces.bzl b/ros2/interfaces.bzl
index 9b242906..0702bda9 100644
--- a/ros2/interfaces.bzl
+++ b/ros2/interfaces.bzl
@@ -18,6 +18,7 @@ load("@bazel_skylib//lib:paths.bzl", "paths")
 load("@com_github_mvukov_rules_ros2//ros2:cc_opts.bzl", "CPP_COPTS", "C_COPTS")
 load("@rules_cc//cc:toolchain_utils.bzl", "find_cpp_toolchain")
 load("@rules_python//python:defs.bzl", "py_library")
+load("@rules_python//python/private:bzlmod_enabled.bzl", "BZLMOD_ENABLED")
 load("@rules_ros2_pip_deps//:requirements.bzl", "requirement")
 
 Ros2InterfaceInfo = provider(
@@ -822,7 +823,7 @@ 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("@rules_ros2_pip_deps" + ("_311" if BZLMOD_ENABLED else "") + "_numpy//:headers"),
             ],
             providers = [CcInfo],
         ),