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There is already a similar question question regarding this.
It can be a bit confusing, but according to the convention (it was maybe in REP 105) and the nav_msgs/Odometry message description, the twist should be in the base_link. It actually makes sense to consider the twist locally. For example, lets say the robot is moving with 1m/s forward. A twist, with linear x=1m/s makes sense in this case regarding the base_link and the robots current velocity. Otherwise if it was in the parent (odom) frame then this simple movement would be represented with a combination of x and y.

There is already a similar question question regarding this.

There is already a similar question question regarding this.

It can be a bit confusing, but according to the convention (it was maybe in REP 105) and the nav_msgs/Odometry message description, the twist should be in the base_link. It actually makes sense to consider the twist locally. For example, lets say the robot is moving with 1m/s forward. A twist, with linear x=1m/s makes sense in this case regarding the base_link and the robots current velocity. Otherwise if it was in the parent (odom) frame then this simple movement would be represented with a combination of x and y. regarding the robot's orientation in the odom frame.