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As of the Bouncy release, the closest functionality to what you are looking for is that a list of launch files that are in a specific package will tab-complete once ros2 launch <package_name> has already been typed. There isn't currently an equivalent to ros2 pkg executables (the functionality is there but it's currently only used for argument auto-complete), nor is there currently a way to list all packages that have launch files (see this tracking issue).

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