Scrapper and runes of the Ranger
https://wiki.guildwars2.com/wiki/Superior_Rune_of_the_Ranger
Notes
For the purposes of triggering the bonus damage (#6), the game considers summoned NPCs to be companions; this includes minions, and those produced by sigils (e.g. Sigil of Demon Summoning) or various consumables.
If minions count, my guess would be yes. But this is ArenaNet we are talking about, consistency isn’t their strong trait.
maybe try runes of the eagle
From testing in the pvp grounds, no.