Get a callback on a frame apparition

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Hi everyone, I would like to get a callback when I got a specific frame.

I already test this method but it requires a defaut topic that i don't require:

point_sub_.subscribe(nh_, "scan", 10);
tf_filter_ = new tf::MessageFilter<sensor_msgs::LaserScan>(point_sub_, tf_, "laser", 10);
tf_filter_->registerCallback( boost::bind(&TeleopRoboteq::msgCallback, this, _1) );

Can I subscribe to tf and trigger the message filter like a normal topic (instead of laser in my exemple)?