Both -s and -f accept .gro files (see the help text). Whether or not you get a proper result is another matter; you need to get a center of mass as part of that calculation, and with only a coordinate file, the masses may not be correct. With a .tpr file, they will be.
You may have generated your gro file from a run, that is using a tpr file OR you have a gro file from somewhere but you should still be able to create the tpr file knowing the topology.