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As @guidot said, nothing replaces human oversight. But a good piece of software (I use Digital Performer, which is decidedly not free) can quantize the MIDI performance, which helps it render a more conventional-looking score. But you will still have to clean it up.

Musescore is free as opposed to many other programs such as Sibelius or Finale. However, it is still very good and can do almost everything that paid programs can do. One of the input files accepted in Musescore is MIDI and it can output PDF among other formats. However, as guidot said, it takes a human to do it right because a MIDI file does not contain ...

This is not quite a "conversion", since the midi file is on a much lower level than a score. So while you will surely get some output, it is more than questionable, whether somebody can play from it without considerable editing. As an example midi contains nothing about a key and so has to make wild guesses concerning accidentals, same for time signature, ...

Guitar pro does midi import and pdf export, so you should be able to obtain tabs and scores from it.