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This is the first example listed for the rosbag filter command: http://wiki.ros.org/rosbag/Commandline#filter

rosbag filter my.bag only-tf.bag "topic == '/tf'"

If you want to extract a topic other than /tf, simply change that portion of the command.

Note that the expression topic == '/tf' is surrounded in double quotes so that it isn't interpreted by the shell, and /tf is further enclosed in single quotes because it is a python string literal.