diff --git a/jsk_topic_tools/scripts/filtered_relay.py b/jsk_topic_tools/scripts/filtered_relay.py
new file mode 100755
index 000000000..97bab6dec
--- /dev/null
+++ b/jsk_topic_tools/scripts/filtered_relay.py
@@ -0,0 +1,93 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import sys
+from importlib import import_module
+
+import roslib.message
+import rospy
+import std_msgs.msg
+
+
+def expr_eval(expr, modules):
+    def eval_fn(topic, m, t):
+        return eval(expr, modules, {'m': m})
+    return eval_fn
+
+
+class FilteredRelay(object):
+
+    def __init__(self):
+        import_list = rospy.get_param('~import', [])
+        self.modules = {}
+        for module in import_list:
+            try:
+                mod = import_module(module)
+            except ImportError:
+                rospy.logerr('Failed to import module: %s' % module, file=sys.stderr)
+            else:
+                self.modules[module] = mod
+
+        self.filter_expression = rospy.get_param('~filter', None)
+        if self.filter_expression is not None:
+            self.filter_expression = expr_eval(self.filter_expression, self.modules)
+
+        self.output_type = rospy.get_param('~output_type')
+        self.output_class = roslib.message.get_message_class(self.output_type)
+
+        self.transform_expression = rospy.get_param('~transform', 'm')
+        self.pub_transform = rospy.Publisher(
+            '~output',
+            self.output_class, queue_size=1)
+
+        self.topic_name = rospy.resolve_name('~input')
+        self.sub = rospy.Subscriber(
+            self.topic_name,
+            rospy.AnyMsg,
+            callback=lambda msg, tn=self.topic_name: self.callback(tn, msg),
+            queue_size=1)
+
+    def publish(self, m):
+        if self.output_type == 'std_msgs/Empty':
+            self.pub_transform.publish()
+            return
+        if self.transform_expression is not None:
+            try:
+                res = eval(self.transform_expression, self.modules, {'m': m})
+            except NameError as e:
+                rospy.logerr("Expression using variables other than 'm': %s"
+                             % e.message, file=sys.stderr)
+            except UnboundLocalError as e:
+                rospy.logerr('Wrong expression:%s' % e.message,
+                             file=sys.stderr)
+            except Exception as e:
+                rospy.logerr(str(e))
+            else:
+                if not isinstance(res, (list, tuple)):
+                    res = [res]
+                self.pub_transform.publish(*res)
+        else:
+            self.pub_transform.publish(m)
+
+    def callback(self, topic_name, msg):
+        if isinstance(msg, rospy.msg.AnyMsg):
+            package, msg_type = msg._connection_header['type'].split('/')
+            ros_pkg = package + '.msg'
+            msg_class = getattr(import_module(ros_pkg), msg_type)
+            self.sub.unregister()
+            deserialized_sub = rospy.Subscriber(
+                topic_name, msg_class,
+                lambda msg, tn=topic_name: self.callback(tn, msg))
+            self.sub = deserialized_sub
+            msg = msg_class().deserialize(msg._buff)
+        if self.filter_expression is not None:
+            if self.filter_expression(topic_name, msg, rospy.Time.now()):
+                self.publish(msg)
+        else:
+            self.publish(msg)
+
+
+if __name__ == '__main__':
+    rospy.init_node('filtered_relay')
+    node = FilteredRelay()
+    rospy.spin()