Security for IV in AES-GCM mode
It is indeed safe to send it along with the ciphertext; the attacker can't learn anything from it (other than possibly how many packets has been generated so far, if you use a counter to generate the IVs), and if the attacker modifies the IV, the resulting message will fail to decrypt (with high probability).

Existing protocols that can use GCM (TLS, IPSec) do exactly that: prepend the IV in front of the AES-GCM data.