diff --git a/rosbot_xl_bringup/test/test_scan_filter.py b/rosbot_xl_bringup/test/test_scan_filter.py
deleted file mode 100644
index beecc57d..00000000
--- a/rosbot_xl_bringup/test/test_scan_filter.py
+++ /dev/null
@@ -1,65 +0,0 @@
-# Copyright 2021 Open Source Robotics Foundation, Inc.
-# Copyright 2023 Intel Corporation. All Rights Reserved.
-# Copyright 2023 Husarion
-#
-# 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.
-
-import launch_pytest
-import pytest
-import rclpy
-
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
-from launch.substitutions import PathJoinSubstitution
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from test_utils import BringupTestNode
-
-
-@launch_pytest.fixture
-def generate_test_description():
-    rosbot_xl_bringup = get_package_share_directory("rosbot_xl_bringup")
-    bringup_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [
-                    rosbot_xl_bringup,
-                    "launch",
-                    "bringup.launch.py",
-                ]
-            )
-        ),
-        launch_arguments={
-            "use_gpu": "False",
-        }.items(),
-    )
-
-    return LaunchDescription([bringup_launch])
-
-
-@pytest.mark.launch(fixture=generate_test_description)
-def test_scan_filter():
-    rclpy.init()
-    try:
-        node = BringupTestNode("test_bringup")
-        node.create_test_subscribers_and_publishers()
-        node.start_publishing_fake_hardware()
-
-        node.start_node_thread()
-        msgs_received_flag = node.scan_filter_event.wait(timeout=10.0)
-        assert (
-            msgs_received_flag
-        ), "Expected filtered scan but it is not filtered properly. Check laser_filter!"
-
-    finally:
-        rclpy.shutdown()