septentrio-gnss/septentrio_gnss_driver ? reverse-engineered prompt

Build me a ROS driver for Septentrio GNSS and INS receivers that works in both ROS 1 and ROS 2 from the same codebase.

I want to connect to a receiver over serial, TCP, UDP, or USB, load settings from a YAML config, and launch it cleanly for either a GNSS only setup or an INS setup. It should publish the usual position and fix messages, plus odometry for INS, and handle Septentrio messages and SBF data well enough to report receiver status, RTK corrections, and anti jamming or spoofing info. If it makes sense, include the option to convert the receiver’s heading and axes into standard ROS orientation, and let me turn that off if I want the raw Septentrio convention.

Also support multiple RTK correction sources, and make it possible to replay PCAP logs for testing. If you need to check the latest ROS 2 docs or Septentrio details online, go ahead.