diff --git a/rosbot_xl_bringup/test/test_scan_filter.py b/rosbot_xl_bringup/test/test_scan_filter.py
new file mode 100644
index 00000000..0a9a26f0
--- /dev/null
+++ b/rosbot_xl_bringup/test/test_scan_filter.py
@@ -0,0 +1,65 @@
+# 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()