diff --git a/completions/README.md b/completions/README.md
index ca313747..37112a43 100644
--- a/completions/README.md
+++ b/completions/README.md
@@ -1,11 +1,10 @@
 # Shell completion scripts
 
-By default, rmw completions are installed when rmw is installed (This can be
-disabled by using '-Dinstall_shell_completions' during meson setup). If they
-aren't present on your system, you can install a shell completion manually by
-getting the completion from the rmw source package or git repository. See the
-links below for specific installation instructions for each completion.
-
+By default, rmw completions are copied to the rmw documentation dir when rmw
+is installed. If they aren't present on your system, you can install a shell
+completion manually by getting the completion from the source package or git
+repository. See the links below for specific installation instructions for
+each completion.
 
 ## Fish
 
diff --git a/completions/meson.build b/completions/meson.build
deleted file mode 100644
index fbc72e8c..00000000
--- a/completions/meson.build
+++ /dev/null
@@ -1,18 +0,0 @@
-fish_comp = dependency('fish', required: false)
-
-if get_option('install_shell_completions')
-  fish_files = files(
-    join_paths('fish', 'rmw.fish'),
-  )
-
-  # default location
-  fish_install_dir = join_paths(get_option('datadir'), 'fish', 'vendor_completions.d')
-
-  if fish_comp.found()
-    # when needed we overload the variable
-    fish_install_dir = fish_comp.get_variable('completionsdir')
-  endif
-
-  install_data(fish_files, install_dir: fish_install_dir)
-endif
-
diff --git a/meson.build b/meson.build
index 0717654d..f540b413 100644
--- a/meson.build
+++ b/meson.build
@@ -72,10 +72,6 @@ main_bin = executable(
 
 subdir ('man')
 
-if get_option('install_shell_completions')
-  subdir('completions')
-endif
-
 if get_option('build_tests')
   subdir ('test')
 endif
@@ -91,3 +87,10 @@ install_data(
     ),
   install_dir : get_option('docdir')
   )
+
+# Copy completions to docdir
+install_subdir(
+  'completions',
+  install_dir : join_paths(get_option('docdir')),
+  strip_directory : false
+  )