Is there a way to change the /tf in a rosbag?

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I currently have a rosbag with a /tf topic containing only static transforms. Is there a way I can alter one of the transforms?

I have tried creating a new filtered rosbag not containing the /tf and generating the /tf from a launch file. But I get issues when trying to display the pointclouds in rviz.

I get the error : "Message removed because it is too old" when trying to display PointCloud2 topics.