diff --git a/scripts/filter_planning.sh b/scripts/filter_planning.sh
new file mode 100644
index 0000000000000000000000000000000000000000..d312daed189688256321ed41155d9d75711b16aa
--- /dev/null
+++ b/scripts/filter_planning.sh
@@ -0,0 +1,30 @@
+#!/usr/bin/env bash
+
+###############################################################################
+# Copyright 2017 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+
+
+function filter() {
+    rosbag filter $1 $2 "topic == '/apollo/canbus/chassis' or topic == '/apollo/prediction' or topic == '/apollo/routing_response' or topic == '/apollo/localization/pose' or topic == '/apollo/perception/traffic_light' or topic == '/apollo/perception/obstacle'"
+}
+
+for bag in $@; do
+    name=$(basename $bag)
+    target="${name%.*}.np.bag"
+    echo "filtering ${bag}"
+    filter $bag $target
+done
+