diff --git a/repositories/ament_cmake_ros.BUILD.bazel b/repositories/ament_cmake_ros.BUILD.bazel
deleted file mode 100644
index a584f0b7..00000000
--- a/repositories/ament_cmake_ros.BUILD.bazel
+++ /dev/null
@@ -1,11 +0,0 @@
-""" Builds ament_cmake_ros.
-"""
-
-load("@rules_python//python:defs.bzl", "py_library")
-
-py_library(
-    name = "domain_coordinator",
-    srcs = glob(["domain_coordinator/domain_coordinator/**/*.py"]),
-    imports = ["domain_coordinator"],
-    visibility = ["//visibility:public"],
-)
diff --git a/repositories/ros2_repo_mappings.yaml b/repositories/ros2_repo_mappings.yaml
index f3341866..990a2bb6 100644
--- a/repositories/ros2_repo_mappings.yaml
+++ b/repositories/ros2_repo_mappings.yaml
@@ -1,8 +1,5 @@
 # Maps names of ROS repositories to Bazel' http_archive arguments.
 repositories:
-  ament_cmake_ros:
-    name: ros2_ament_cmake_ros
-    build_file: "@com_github_mvukov_rules_ros2//repositories:ament_cmake_ros.BUILD.bazel"
   ament_index:
     name: ros2_ament_index
     build_file: "@com_github_mvukov_rules_ros2//repositories:ament_index.BUILD.bazel"
diff --git a/repositories/ros2_repositories_impl.bzl b/repositories/ros2_repositories_impl.bzl
index 74a339c9..15ff8310 100644
--- a/repositories/ros2_repositories_impl.bzl
+++ b/repositories/ros2_repositories_impl.bzl
@@ -3,15 +3,6 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
 
 def ros2_repositories_impl():
-    maybe(
-        http_archive,
-        name = "ros2_ament_cmake_ros",
-        build_file = "@com_github_mvukov_rules_ros2//repositories:ament_cmake_ros.BUILD.bazel",
-        sha256 = "01c778f18315ad13efd02e24200ff04f1e72359096c0967dba45e45bc479b3c6",
-        strip_prefix = "ament_cmake_ros-0.10.0",
-        url = "https://github.com/ros2/ament_cmake_ros/archive/refs/tags/0.10.0.tar.gz",
-    )
-
     maybe(
         http_archive,
         name = "ros2_ament_index",