diff --git a/scripts/filter_bag_pnc.sh b/scripts/filter_bag_pnc.sh
deleted file mode 100755
index 2a78c6ff439aa5dd3fa04ce0525bfcdb8ca3814d..0000000000000000000000000000000000000000
--- a/scripts/filter_bag_pnc.sh
+++ /dev/null
@@ -1,55 +0,0 @@
-#!/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.
-###############################################################################
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-
-if [ $# -lt 1 ]; then
-  echo "Filter rosbag and keep PnC topics to reduce bag size."
-  echo "Usage: $0 rosbag_name "
-  exit
-fi
-
-source "${DIR}/apollo_base.sh"
-
-INPUT_BAG=$1
-FN_NAME=`basename $INPUT_BAG`
-DIR_NAME=`dirname $INPUT_BAG`
-OUTPUT_BAG="${DIR_NAME}/pnc_${FN_NAME}"
-
-rosbag filter $INPUT_BAG $OUTPUT_BAG \
-  "topic == '/apollo/sensor/gnss/gnss_status' or \
-  topic == '/apollo/sensor/gnss/odometry' or  \
-  topic == '/apollo/sensor/gnss/ins_stat' or  \
-  topic == '/apollo/sensor/gnss/corrected_imu' or  \
-  topic == '/apollo/sensor/mobileye' or  \
-  topic == '/apollo/sensor/delphi_esr' or  \
-  topic == '/apollo/canbus/chassis' or  \
-  topic == '/apollo/canbus/chassis_detail' or  \
-  topic == '/apollo/control' or  \
-  topic == '/apollo/control/pad' or  \
-  topic == '/apollo/perception/obstacles' or  \
-  topic == '/apollo/perception/traffic_light' or  \
-  topic == '/apollo/planning' or  \
-  topic == '/apollo/prediction' or  \
-  topic == '/apollo/routing_request' or  \
-  topic == '/apollo/routing_response' or  \
-  topic == '/apollo/localization/pose' or  \
-  topic == '/apollo/drive_event' or  \
-  topic == '/apollo/monitor' "
-
-echo "output bag at $OUTPUT_BAG"