Re: servlet annotations for URL mapping?

I've read that the newest Servlet API (2.5) has support for annotations.
But I'm having a lot of trouble finding out how to do a simple URL
mapping with annotations. Here's what I'm trying to do - take a standard
section of web.xml like:

    <servlet>
        <servlet-name>ping</servlet-name>
        <servlet-class>com.example.Ping</servlet-class>
    </servlet>
    <servlet-mapping>
        <servlet-name>ping</servlet-name>
        <url-pattern>/test/ping</url-pattern>
    </servlet-mapping>

And replace it annotations in the servlet itself. The compelling idea
here is that new servlets can be self-contained, i.e. that new servlets
can be added to the system without having to make an out-of-band edit of
web.xml. And this in turn is valuable in the case of upgrades - if a
user is allowed/required to modify the deployment descriptor then
upgrading becomes much more difficult as our changes must be merged with
theirs. I want them to be able to add servlets without touching web.xml.

BTW this is not a Java EE application. No Spring/Struts/Hibernate/etc.

Just a basic web container running a set of servlets.