diff --git a/tools/rosbash/rosbash b/tools/rosbash/rosbash
index 13327f8b..b3dcd36e 100644
--- a/tools/rosbash/rosbash
+++ b/tools/rosbash/rosbash
@@ -638,6 +638,9 @@ function _roscomplete_rostopic {
 										elif [[ $COMP_CWORD == 3 ]]; then
 												opts=`_msg_opts ${COMP_WORDS[$COMP_CWORD]}`
 												COMPREPLY=($(compgen -W "$opts" -- ${arg}))
+								    elif [[ $COMP_CWORD == 4 ]]; then
+										    opts=`rosrun rosmsg rosmsgproto msg -s ${COMP_WORDS[3]}`
+										    COMPREPLY="$opts"
 										fi
 										;;
 		        esac
@@ -664,6 +667,14 @@ function _roscomplete_rosservice {
                 COMPREPLY=($(compgen -W "$opts" -- ${arg}))
                 ;;
         esac
+    elif [[ $COMP_CWORD == 3 ]]; then
+        case ${COMP_WORDS[1]} in
+            call)
+                type=`rosservice type ${COMP_WORDS[2]}`
+                opts=`rosrun rosmsg rosmsgproto srv -s ${type}`
+                COMPREPLY="$opts"
+            ;;
+        esac
     fi
 
 }
diff --git a/tools/rosbash/roszsh b/tools/rosbash/roszsh
index e0599c44..9fdafcdb 100644
--- a/tools/rosbash/roszsh
+++ b/tools/rosbash/roszsh
@@ -423,6 +423,9 @@ function _roscomplete_rostopic {
 										elif [[ ${CURRENT} == 4 ]]; then
 												opts=`_msg_opts ${=${(s: :)words[-1]}}`
 												reply=(${=opts})
+										elif [[ ${CURRENT} == 5 ]]; then
+												opts=`rosrun rosmsg rosmsgproto msg -s ${=${(s: :)words[-1]}}`
+												reply=(${=opts})
 										fi
 										;;
 		        esac
@@ -450,6 +453,14 @@ function _roscomplete_rosservice {
                 reply=(${=opts})
                 ;;
         esac
+    elif [[ ${CURRENT} == 4 ]]; then
+        case ${=${(s: :)words}[2]} in
+            call)
+                type=`rosservice type ${=${(s: :)words[-1]}}`
+                opts=`rosrun rosmsg rosmsgproto srv -s ${type}`
+                reply=(${=opts})
+                ;;
+        esac
     fi
 
 }