diff --git a/ros2cli/colcon.pkg b/ros2cli/colcon.pkg
index a762fd0cc..b361b7948 100644
--- a/ros2cli/colcon.pkg
+++ b/ros2cli/colcon.pkg
@@ -1,6 +1,7 @@
 {
     "hooks": [
         "share/ros2cli/environment/ros2-argcomplete.bash",
+        "share/ros2cli/environment/ros2-argcomplete.fish",
         "share/ros2cli/environment/ros2-argcomplete.zsh"
     ]
 }
diff --git a/ros2cli/completion/ros2-argcomplete.fish b/ros2cli/completion/ros2-argcomplete.fish
new file mode 100644
index 000000000..e72102089
--- /dev/null
+++ b/ros2cli/completion/ros2-argcomplete.fish
@@ -0,0 +1,19 @@
+# Copyright 2017-2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+if type register-python-argcomplete3 > /dev/null 2>&1
+  eval "register-python-argcomplete3 --shell fish ros2 | source"
+else if type register-python-argcomplete > /dev/null 2>&1
+  eval "register-python-argcomplete3 --shell fish ros2 | source"
+end
diff --git a/ros2cli/resource/local_setup.fish b/ros2cli/resource/local_setup.fish
new file mode 100644
index 000000000..60333d15a
--- /dev/null
+++ b/ros2cli/resource/local_setup.fish
@@ -0,0 +1,31 @@
+# reduced from ament_package/template/package_level/local_setup.fish.in
+
+# provide AMENT_CURRENT_PREFIX to shell script
+set -l AMENT_CURRENT_PREFIX (cd (dirname (status -f))/../.. && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+set -l _package_local_setup_AMENT_CURRENT_PREFIX $AMENT_CURRENT_PREFIX
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS"]
+  set -e AMENT_ENVIRONMENT_HOOKS
+end
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+set -l AMENT_CURRENT_PREFIX $_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/ros2cli/environment/ros2-argcomplete.fish"
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS"]
+  set -l _package_local_setup_IFS $IFS
+  set -l IFS ":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    set AMENT_CURRENT_PREFIX $_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    set IFS $_package_local_setup_IFS
+    source "$_hook"
+  end
+  set IFS $_package_local_setup_IFS
+end
diff --git a/ros2cli/setup.py b/ros2cli/setup.py
index c3f503231..000f962c0 100644
--- a/ros2cli/setup.py
+++ b/ros2cli/setup.py
@@ -14,10 +14,12 @@
         ]),
         ('share/ros2cli', [
             'resource/local_setup.bash',
+            'resource/local_setup.fish',
             'resource/local_setup.zsh',
         ]),
         ('share/ros2cli/environment', [
             'completion/ros2-argcomplete.bash',
+            'completion/ros2-argcomplete.fish',
             'completion/ros2-argcomplete.zsh'
         ]),
     ],