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You will always get your sensor information in the sensor frame. Thus, you need to set up your robot correctly for doing localization.

I.e., you need to have a correct tf tree specifiying the robots transformations (where is the sensor w.r.t the base_link) and you need to publish the odometry to tf as well.

There are thorough descriptions in the ROS navigation Tutorials about how to set up your robot correctly

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