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It's a bit easier with python:

import rosbag

with rosbag.Bag('output.bag', 'w') as outbag:
    for topic, msg, t in rosbag.Bag('input.bag').read_messages():
        if topic == "/tf" and msg.transforms:
            outbag.write(topic, msg, msg.transforms[0].header.stamp)
        else:
            outbag.write(topic, msg, msg.header.stamp if msg._has_header else t)

http://wiki.ros.org/rosbag/Cookbook

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