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If you want your custom package to appear in the completion you need to make sure to "register" it in the resource index. For that you need to install an empty file to <prefix>/share/ament_index/resource_index/packages/<pkgname>.

ament_cmake is just doing that for you when you invoke ament_package() in your CMake code (see https://github.com/ament/ament_cmake/blob/fd3d09b351b88d33daa320314b178f253ccfb172/ament_cmake_core/cmake/index/ament_index_register_package.cmake#L29).