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roscd should tab-complete ROS package names.

If this isn't working, you should check:

That you're sourcing the setup.bash and not setup.sh in your workspace. (setup.sh is for posix-compliant shells that don't have any fancy features.)
That your ROS_PACKAGE_PATH and CMAKE_PREFIX_PATH are set properly (The setup files should do this automatically when you source them, but there's always a possibility that something is overwriting them later)

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