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I answer my own question. Finally the problem is that tfMessage is not part of the standard roscore distribution. So you have to add it in the ROSMatlab path.
The procedure is the following:
* Download the tf.jar here:
https://github.com/rosjava/rosjava_mvn_repo/tree/master/org/ros/rosjava_messages/tf
Don't forget to download it in 'raw'.
*  Add the jar files to <MATLAB>\toolbox\psp\rosmatlab\jars
*  Edit <\MATLAB>\toolbox\local\classpath.txt by adding the full path to the jar file above the line “# ROS-MATLAB-END”
* Restart MATLAB.
And it should work.

I answer my own question. Finally the problem is that tfMessage is not part of the standard roscore distribution. So you have to add it in the ROSMatlab path. path. The procedure is the following: * Download the tf.jar here: https://github.com/rosjava/rosjava_mvn_repo/tree/master/org/ros/rosjava_messages/tf Don't forget to download it in 'raw'. * Add the jar files to <MATLAB>\toolbox\psp\rosmatlab\jars <matlab>\toolbox\psp\rosmatlab\jars * Edit <\MATLAB>\toolbox\local\classpath.txt by adding the full path to the jar file above the line “# ROS-MATLAB-END” * Restart MATLAB. MATLAB.
And it should work.
work.