diff --git a/rosidl_cli/colcon.pkg b/rosidl_cli/colcon.pkg
new file mode 100644
index 000000000..623d2898e
--- /dev/null
+++ b/rosidl_cli/colcon.pkg
@@ -0,0 +1,6 @@
+{
+    "hooks": [
+        "share/rosidl_cli/environment/rosidl-argcomplete.bash",
+        "share/rosidl_cli/environment/rosidl-argcomplete.zsh"
+    ]
+}
diff --git a/rosidl_cli/completion/rosidl-argcomplete.zsh b/rosidl_cli/completion/rosidl-argcomplete.zsh
index 9a86dbd23..ee227eef9 100644
--- a/rosidl_cli/completion/rosidl-argcomplete.zsh
+++ b/rosidl_cli/completion/rosidl-argcomplete.zsh
@@ -12,8 +12,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-autoload -U +X compinit && compinit
-autoload -U +X bashcompinit && bashcompinit
+if ! type compdef > /dev/null 2>&1; then
+  autoload -U +X compinit && compinit
+fi
+
+if ! type complete > /dev/null 2>&1; then
+  autoload -U +X bashcompinit && bashcompinit
+fi
 
 # Get this scripts directory
 __rosidl_cli_completion_dir=${0:a:h}