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You are asking a very broad question, with few details. Since this is an IMU with GNSS (GPS), I assume you are doing an outdoor project.

I personally did a project with an vectornav 200 IMU in ROS: https://youtu.be/rzTScFbkdG0 https://vision.eng.au.dk/uav_lidar/ http://www.mdpi.com/1424-8220/17/12/2703 If you use a bit of time, you should be able to find info and answers to your questions.

I will try to go through your questions quickly.

1. Fix and way so you know the orientation on the robot or use a calibration procedure

2. It is a personal choice where on the robot base_link is set, but some places are smarter than others. If you want to control a multi propelled drone, set in the center. For a front steered vehicle, general rotation point or center of mass might be a good choice. The trick is to know the static translations and rotation between IMU and base_link. The transform between base_link->IMU can be determined using either a fixed setup with known positions and orientations or a calibration procedure. We used a fixed setup based on a 3D printed sensor mount.

3. If the above information did not provide you with enough details, then have look at this VN-100 node: https://github.com/FroboLab/frobomind/tree/master/fmSensors/global_sensing/imu/vectornav_vn100 You might choose another approach, but this should help you to move forward.