Oracle JDeveloper is a free integrated development environment that simplifies the development of Java-based SOA and Java EE applications.
One of main goals of Team Foundation Server 2010 is to support heterogeneous development environments and of course part of it is supporting Java developers to make use of team development features provided.
You can refer to the following article for full details how to install the add-in Using Microsoft TFS as Version Control System with JDeveloper 11g
I have produce a small video demonstrate the whole steps
Hope it help!