Translating between left handed co-ordinate system and right handed co-ordinate system?

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I have a rosbag that publishes IMU information in the left hand coordinate system but as I read in REP 103 , the coordinate systems in ros are all right handed.

How do I accomplish this transformation between the two? Do I change values published by IMU or do I publish a transform? I strongly feel that I should publish a certain transform. What does that transform look like and where can I read more about it? What are the best practices to do this? Also can one sensor be in a different co-ordinate frame than the other, how do you fix that?

Note: I am using tf2

I also found and article about this on a webpage by unity.