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From your suggestion, I couldn't find a satisfactory way to change from tf::Stamped<tf::pose> to tf::PoseStamped, and it was getting too confusing with bullet, so I just went for the easy, less-elegant:

tf::Transform transform_auxiliar;
transform_auxiliar.setOrigin(tf::Vector3(pose_msg.pose.position.x, pose_msg.pose.position.y, pose_msg.pose.position.z));
transform_auxiliar.setRotation(tf::Quaternion( pose_msg.pose.position.x, pose_msg.pose.orientation.y, pose_msg.pose.orientation.z, pose_msg.pose.orientation.w));

tf_br.sendTransform(tf::StampedTransform(transform_auxiliar, ros::Time::now(), "openni_camera", "graspingPoint"));

Thanks, though.