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According to the documentation of sensor_msgs/NavSatFix the frame_id should be set to the "frame of reference reported by the receiver, usually the location of the antenna". So as far as I understood it a frame_id of "base_footprint" will probably work for most people, or frame_id "gps" with a static transform to the base_link.

It looks like it will transform your gps coordinates from your global frame to "base_footprint" if you set the frame_id of your "fix"-message to your global frame, as written here: https://answers.ros.org/question/198196/gps-coordinates-to-map-coordinates/

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