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The problem lies in my addition of a CMakeLists.txt file to the top level of the asar directory. This was causing a directory asar to be created underneath my install folder. When I took that out, it was no longer created and image_capture was created directly under this folder instead. I'm now able to auto-complete the command ros2 launch image_capture publish_one_image.py without a problem!

I believe that what I was doing (having a top level CMake file with a few calls to add_subdirectory) was allowed in ROS1, but it appears that this causes problems when the src directory is parsed under colcon and ros2.