feat(dataset): add FAST-LIVO dataset with metadata and README

Introduce the FAST-LIVO dataset for LiDAR-Inertial-Visual Odometry research. Includes MCAP files for scenarios such as urban campus
environments, LiDAR degenerate conditions, and visual challenges.

FAST-LIVO/LiDAR_Degenerate/LiDAR_Degenerate_0.mcap

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8db89db01681606eefe33230bdcf80fa50056efa574d122089ddc7be1dcb38fd
+size 6506600889

FAST-LIVO/LiDAR_Degenerate/metadata.yaml

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+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 77897281171
+  starting_time:
+    nanoseconds_since_epoch: 1634087476399940013
+  message_count: 18112
+  topics_with_message_count:
+    - topic_metadata:
+        name: /left_camera/image
+        type: sensor_msgs/msg/Image
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 779
+    - topic_metadata:
+        name: /livox/lidar
+        type: livox_ros_driver/msg/CustomMsg
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 779
+    - topic_metadata:
+        name: /livox/imu
+        type: sensor_msgs/msg/Imu
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15775
+    - topic_metadata:
+        name: /right_camera/image
+        type: sensor_msgs/msg/Image
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 779
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - LiDAR_Degenerate_0.mcap
+  files:
+    - path: LiDAR_Degenerate_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1634087476399940013
+      duration:
+        nanoseconds: 77897281171
+      message_count: 18112

FAST-LIVO/README.md

@@ -0,0 +1,16 @@
+# [FAST-LIVO Dataset](https://github.com/hku-mars/FAST-LIVO)
+
+This dataset contains MCAP files for robotics research, specifically focused on LiDAR-Inertial-Visual Odometry (LIVO) systems.
+
+## Dataset Structure
+
+The dataset is organized into the following scenarios:
+
+### 📍 **hku1** & **hku2**
+University campus sequences recorded at Hong Kong University, providing urban outdoor environments with mixed static and dynamic objects.
+
+### 🔍 **LiDAR_Degenerate** 
+Challenging scenarios where LiDAR measurements may be degraded or provide limited geometric constraints, useful for testing algorithm robustness.
+
+### 👁️ **Visual_Challenge**
+Sequences with challenging visual conditions such as lighting changes, motion blur, or low-texture environments that stress visual odometry components.

FAST-LIVO/Visual_Challenge/Visual_Challenge_0.mcap

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6222e8e7c994233decc516e70490d64c5f80b2bb0b4eea43d421d55ae440ba01
+size 1303247009

FAST-LIVO/Visual_Challenge/metadata.yaml

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+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 162197633983
+  starting_time:
+    nanoseconds_since_epoch: 1577840580699778079
+  message_count: 37701
+  topics_with_message_count:
+    - topic_metadata:
+        name: /left_camera/image/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1622
+    - topic_metadata:
+        name: /livox/imu
+        type: sensor_msgs/msg/Imu
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 32835
+    - topic_metadata:
+        name: /livox/lidar
+        type: livox_ros_driver/msg/CustomMsg
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1622
+    - topic_metadata:
+        name: /right_camera/image/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1622
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - Visual_Challenge_0.mcap
+  files:
+    - path: Visual_Challenge_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1577840580699778079
+      duration:
+        nanoseconds: 162197633983
+      message_count: 37701

FAST-LIVO/hku1/hku1_0.mcap

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a4e11fb6b0c63656e97b670e6f50d66119d35311e98acb4ef914d3313e3db66c
+size 1190284494

FAST-LIVO/hku1/metadata.yaml

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+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 127695796967
+  starting_time:
+    nanoseconds_since_epoch: 1577836978699826955
+  message_count: 29702
+  topics_with_message_count:
+    - topic_metadata:
+        name: /left_camera/image/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1277
+    - topic_metadata:
+        name: /livox/imu
+        type: sensor_msgs/msg/Imu
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 25871
+    - topic_metadata:
+        name: /livox/lidar
+        type: livox_ros_driver/msg/CustomMsg
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1277
+    - topic_metadata:
+        name: /right_camera/image/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1277
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - hku1_0.mcap
+  files:
+    - path: hku1_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1577836978699826955
+      duration:
+        nanoseconds: 127695796967
+      message_count: 29702

FAST-LIVO/hku2/hku2_0.mcap

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e8f806354de94c01c3d8e20bc18865a80b03b3c573d076537d73b3b640a14944
+size 885629016

FAST-LIVO/hku2/metadata.yaml

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+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 105197076082
+  starting_time:
+    nanoseconds_since_epoch: 1577837173099293947
+  message_count: 24456
+  topics_with_message_count:
+    - topic_metadata:
+        name: /left_camera/image/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1052
+    - topic_metadata:
+        name: /livox/imu
+        type: sensor_msgs/msg/Imu
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 21300
+    - topic_metadata:
+        name: /livox/lidar
+        type: livox_ros_driver/msg/CustomMsg
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1052
+    - topic_metadata:
+        name: /right_camera/image/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1052
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - hku2_0.mcap
+  files:
+    - path: hku2_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1577837173099293947
+      duration:
+        nanoseconds: 105197076082
+      message_count: 24456

README.md

@@ -2,4 +2,13 @@
 license: cc-by-nc-4.0
 task_categories:
 - robotics
----
+---
+
+## File Format
+
+- **`.mcap`**: Main data files containing synchronized sensor measurements (LiDAR, IMU, camera data)
+- **`metadata.yaml`**: Configuration and metadata files describing recording parameters and sensor specifications
+
+## Usage
+
+These MCAP files can be processed using standard robotics tools and libraries that support the MCAP format for multi-modal sensor data analysis and SLAM algorithm evaluation.