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I actually think that bag_to_pcd is broken and I'm not sure if it is actually still maintained. See this ticket. The fact that it requires a TF tree at all makes it really hard to use in many environments. What I did to be able to transform any point cloud is to change it to not do any TF transforms at all, i.e. I got rid of the call to transformPointCloud replaced all occurrences of cloud_t by cloud in the rest of the code. Note that this might break some use cases that actually require transformation of the point cloud to a common frame.
Replacing the target frame "base_link" with "tf" will probably not work. Rather, you could change it to openni_camera.
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