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Edit 1 From the static_transform_publisher:

static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms

Publish a static coordinate transform to tf using an x/y/z offset in meters and yaw/pitch/roll in radians. (yaw is rotation about Z, pitch is rotation about Y, and roll is rotation about X). The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.

The General Form:

     <launch>
     <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 link1_parent link1 100" />
     </launch>

In your launch file (for example)
<launch>
    <node pkg="tf" type="static_transform_publisher" name="imu_to_base" 
    args="0 0 .1 0 0 0 base_link imu_link 50" />    
    <node pkg="i2c_imu" type="i2c_imu_node" name="i2c_imu" output="screen" >
    <rosparam file="$(find i2c_imu)/param/imu.yaml"/>       
    </node>        
</launch>

Summery: To align the imu to the vehicle, you should modify the six value of the previous "static_transform_publisher"