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Thanks to the suggestions of ChuiV, the correct answer to this question is the following:

void publishPose() // publish of the estimate of the state
{            
    Pdf<ColumnVector> * posterior = filter->PostGet();
    ColumnVector pose = posterior->ExpectedValueGet();
    SymmetricMatrix pose_cov = posterior->CovarianceGet();

    geometry_msgs::PoseStamped pose_msg;
    pose_msg.header.frame_id = "world_frame";
    pose_msg.pose.position.x = pose(1);
    pose_msg.pose.position.y = pose(2);
    pose_msg.pose.position.z = pose(3);

    static tf2_ros::TransformBroadcaster br;
    geometry_msgs::TransformStamped transformStamped;

    transformStamped.header.stamp = ros::Time::now();
    transformStamped.header.frame_id = "world_frame";
    transformStamped.child_frame_id = "base_link";
    transformStamped.transform.translation.x = pose(1);
    transformStamped.transform.translation.y = pose(2);
    transformStamped.transform.translation.z = pose(3);
    tf2::Quaternion q;
    q.setRPY(0, 0, 0);
    transformStamped.transform.rotation.x = q.x();
    transformStamped.transform.rotation.y = q.y();
    transformStamped.transform.rotation.z = q.z();
    transformStamped.transform.rotation.w = q.w();

    br.sendTransform(transformStamped);
    pose_pub.publish(pose_msg);
}

I hope this could be helpful for other developers in case needed.