Ok, WRT to in the fuse box or to the battery, neither is wrong, on something with as low current draw as a scanner its more personal preference.
going to the fuse box, don't follow the advice of wrapping the wire around the fuseand push it back in, that will spring out the contacts inside the fuse box and make bad connections later on. I bought a used vehicle where the original owner paid "professionals" to install things and they did that. There are proper fuse taps where you remove the fuse, plug the tap in and the fuse plugs into the tap, be sure to get the proper ones not the fuse tap that just wraps around the existing fuse pin like the wire example above.
grounding to the battery vs frame/body is an often discussed subject with people recommesding both ways. With a receiver such as a scanner it doesn't matter much since the current draw is low but one way or the pther may result in a quieter connection just like connecting power one way or the other so you may wish to test and see. Something handy fo experimenting is to get a couple aligator clips and connect them to inline fuse holders then a roll of wire. This way you can connect the wire to your scanner and try wither way. I say to put the fuses on both ends this is for if you connect the wrong clip or whatever while testing.
For trasnmitting, depending on the power draw there may not be a suitable place in the fuse block that can supply enough current, the schematic orservice manual on your vehilce would be a good reference there but high powered stuff you typically must go to the battery to have its own dedicated circuit large enough to provide the power needed.
Of course fuse at the source either way.
Some vheicles have upfitter connections that can be used for scanners and radios so you may find you alreayd have a place in the fuse block.