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I assume the Faro scans are point cloud data. You would have to create a polygon representation out of that (for example using Meshlab) and save that as a .dae or .stl file. You can then use that inside a gazebo model and load it.
I did the same with a landscape modeled in Blender (COLLADA named "120m_landscape_smooth_tri.dae").
Here's the world file for electric's gazebo: http://code.google.com/p/tu-darmstadt-ros-pkg/source/browse/branches/electric/hector_gazebo/hector_gazebo_worlds/worlds/rolling_landscape_120m.world
and here for fuerte: http://code.google.com/p/tu-darmstadt-ros-pkg/source/browse/branches/fuerte/hector_gazebo/hector_gazebo_worlds/worlds/rolling_landscape_120m.world
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