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TFClient works for me on melodic:

roslaunch rosbridge_server rosbridge_websocket.launch &
rosrun tf2_ros static_transform_publisher 1 0 0 0 0 0 1 link1_parent link1 &
rosrun tf2_web_republisher tf2_web_republisher &
python tf.py

With tf.py:

from __future__ import print_function
import roslibpy
import roslibpy.tf

client = roslibpy.Ros(host='localhost', port=9090)

tf_client = roslibpy.tf.TFClient(client, fixed_frame='link1_parent',
                            angular_threshold=0.0,
                            translation_threshold=0.0,
                            rate=1.0)

def start_listening():
    tf_client.subscribe('link1', print)

client.on_ready(start_listening, run_in_thread=True)
client.run_forever()

The data gets printed every second..