diff --git a/ros2launch/ros2launch/api/__init__.py b/ros2launch/ros2launch/api/__init__.py
index 2240859a..788b0b21 100644
--- a/ros2launch/ros2launch/api/__init__.py
+++ b/ros2launch/ros2launch/api/__init__.py
@@ -18,6 +18,7 @@
 from launch.launch_description_sources import InvalidPythonLaunchFileError
 
 from .api import get_share_file_path_from_package
+from .api import is_launch_file
 from .api import launch_a_launch_file
 from .api import LaunchFileNameCompleter
 from .api import MultipleLaunchFilesError
@@ -28,6 +29,7 @@
 
 __all__ = [
     'get_share_file_path_from_package',
+    'is_launch_file',
     'InvalidLaunchFileError',
     'InvalidPythonLaunchFileError',
     'LaunchFileNameCompleter',
diff --git a/ros2launch/ros2launch/api/api.py b/ros2launch/ros2launch/api/api.py
index bcdf4915..72b491c2 100644
--- a/ros2launch/ros2launch/api/api.py
+++ b/ros2launch/ros2launch/api/api.py
@@ -73,16 +73,22 @@ def get_launch_file_paths(*, path):
     launch_file_paths = []
     for root, dirs, files in os.walk(path):
         for file_name in files:
-            if file_name.endswith(get_launch_file_paths.extensions):
-                launch_file_paths.append(os.path.join(root, file_name))
+            file_path = os.path.join(root, file_name)
+            if is_launch_file(path=file_path):
+                launch_file_paths.append(file_path)
     return launch_file_paths
 
 
-get_launch_file_paths.extensions = [
+def is_launch_file(path):
+    """Return True if the path is a launch file."""
+    return path.endswith(is_launch_file.extensions) and os.path.isfile(path)
+
+
+is_launch_file.extensions = [
     'launch.' + extension for extension in Parser.get_available_extensions()
 ]
-get_launch_file_paths.extensions.append('launch.py')
-get_launch_file_paths.extensions = tuple(get_launch_file_paths.extensions)
+is_launch_file.extensions.append('launch.py')
+is_launch_file.extensions = tuple(is_launch_file.extensions)
 
 
 def print_a_launch_file(*, launch_file_path):
diff --git a/ros2launch/ros2launch/command/launch.py b/ros2launch/ros2launch/command/launch.py
index 5b800e76..0e39dc9e 100644
--- a/ros2launch/ros2launch/command/launch.py
+++ b/ros2launch/ros2launch/command/launch.py
@@ -16,8 +16,15 @@
 
 from ament_index_python.packages import get_package_prefix
 from ament_index_python.packages import PackageNotFoundError
+from argcomplete.completers import FilesCompleter
+try:
+    from argcomplete.completers import SuppressCompleter
+except ImportError:
+    # argcomplete < 1.9.0
+    SuppressCompleter = object
 from ros2cli.command import CommandExtension
 from ros2launch.api import get_share_file_path_from_package
+from ros2launch.api import is_launch_file
 from ros2launch.api import launch_a_launch_file
 from ros2launch.api import LaunchFileNameCompleter
 from ros2launch.api import MultipleLaunchFilesError
@@ -26,6 +33,32 @@
 from ros2pkg.api import package_name_completer
 
 
+class SuppressCompleterWorkaround(SuppressCompleter):
+    """Workaround https://github.com/kislyuk/argcomplete/pull/289 ."""
+
+    def __call__(self, *args, **kwargs):
+        """Make SupressCompleter callable by returning no completions."""
+        return ()
+
+
+def package_name_or_launch_file_completer(prefix, parsed_args, **kwargs):
+    """Complete package names or paths to launch files."""
+    pass_through_kwargs = dict(kwargs)
+    pass_through_kwargs['prefix'] = prefix
+    pass_through_kwargs['parsed_args'] = parsed_args
+
+    # Complete package names
+    completions = list(package_name_completer(**pass_through_kwargs))
+
+    def is_launch_file_or_dir(path):
+        return is_launch_file(path) or os.path.isdir(path)
+
+    # Complete paths to launch files
+    completions.extend(filter(is_launch_file_or_dir, FilesCompleter()(**pass_through_kwargs)))
+
+    return completions
+
+
 class LaunchCommand(CommandExtension):
     """Run a launch file."""
 
@@ -49,17 +82,18 @@ def add_arguments(self, parser, cli_name):
         arg = parser.add_argument(
             'package_name',
             help='Name of the ROS package which contains the launch file')
-        arg.completer = package_name_completer
+        arg.completer = package_name_or_launch_file_completer
         arg = parser.add_argument(
             'launch_file_name',
             # TODO(wjwwood) make this not optional when full launch path is supported.
             nargs='?',
             help='Name of the launch file')
+        arg.completer = LaunchFileNameCompleter()
         arg = parser.add_argument(
             'launch_arguments',
             nargs='*',
             help="Arguments to the launch file; '<name>:=<value>' (for duplicates, last one wins)")
-        arg.completer = LaunchFileNameCompleter()
+        arg.completer = SuppressCompleterWorkaround()
 
     def main(self, *, parser, args):
         """Entry point for CLI program."""