There's documentation on the recommended way to connect those coordinate frames in [REP 105](
http://www.ros.org/reps/rep-0105.html#earth) The default is to use an Earth Centered Earth Fixed frame.
As you make progress on your project it would be great for you to share it back here. However in the future for questions please ask them on
https://answers.ros.org it's a better location for asking questions and finding solutions.
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