My position is somewhat more radical, I suppose, and I am somewhat surprised that my view seems to be reflected in SCOTUS.
I believe the 2A supports the right of the people to keep and bear arms that would be appropriate for a light infantry organization, which the militia is. A quick look at TO&E for Minutemen would support that, and during the Revolution cannon and other heavy weapons were owned by civilians, brought to the fight. What this means is I support the right to keep and bear all arms appropriate such an outfit today, which would include organic air and armor assets as well. Yes, I just suggested the 2A supports the right to own armored vehicles and armed aircraft. You might be surprised that there are several armored vehicles in private hands with fully function main armament...and not a single one has been used in a crime, the horrible movie "Tank" notwithstanding. Gah.
There are many armed aircraft in civilian hands as well, including 27 armed Cobra attack helicopters, (Readers Digest story, about 20 years ago), and I dis-remember any drivebys with one. Or would that be a "flyby"?
There are RPGs for sale in the United States, thought the cost is very high, and of course, rockets for the launchers are VERY scarce, AND each one is covered by NFA '34 and GCA '68. However, the truth is they are out there, and I cannot remember a single story of a bank being held up with an RPG. I could be wrong.

For those recoiling in horror over the very idea, check back to the time between 1946 and 1968, when captured German and Russian mortars used to be available by mail order, and people would have "mortar meets" to compete shooting these indirect fire weapons of mass destruction at targets. While I would think that might be a wee bit dangerous, my views are colored by being a child of the 1980s, where CCW wasn't even widely available yet, and gun owners, even in Arizona, were sometimes regarded as odd for wanting to actually carry a snub 38 spl revolver in public.
Now with Arizona Constitutional Carry, the state recognizes the pre-existing right of the law abiding citizen to carry weapons in public as long as these weapons are being carried for lawful purposes. I have, for experimental purposes only, carried my SA vz-58 in a UTG case meant for unobtrusive carry of a rifle in public. Not one person remarked upon the case, (looks similar to a large soft sided portfolio), and after I satisfied myself that it was easy enough to do, and legal, I parked the case for use when actually required.

BTW, it is a pain to do.
So, back to the OP question, are RPGs and other shoulder launcher missile systems covered under the 2A? Yes, I believe they are. We will see what the Supreme Court has to say, being the final interpreter of the Constitution, but they have been overturned, too.