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This (untested) patch should fix the issue for the cmd module:
+++ Lib/cmd.py	(working copy)
@@ -112,7 +112,18 @@
 import readline
 self.old_completer = readline.get_completer()
 readline.set_completer(self.complete)
- readline.parse_and_bind(self.completekey+": complete")
+
+ if 'libedit' in readline.__doc__:
+ # readline linked to BSD libedit
+ if self.completekey == 'tab':
+ key = '^I'
+ else:
+ key = self.completekey
+ readline.parse_and_bind("bind %s rl_complete"%(key,))
+
+ else:
+ # readline linked to the real readline
+ readline.parse_and_bind(self.completekey+": complete")
 except ImportError:
 pass
 try: