Erik Demaine [1] gave two good lectures on succinct data structures [2] in the 2012 MIT 6.851 Advanced Data Structures course, and Rajeev Raman [3] just gave a tutorial on succinct data structures [4] at SIGMOD 2018.
NB: SDSL Cheatsheet http://simongog.github.io/assets/data/sdsl-cheatsheet.pdf
[2] MIT 6.851 Succinct Structures I https://www.youtube.com/watch?v=3Y2weLDiUWw II https://www.youtube.com/watch?v=ABX-Hvn8ymE
[3] https://www.cs.le.ac.uk/people/rraman/
[4] SIGMOD 2018 Tutorial: In-memory Representations of Databases via Succinct Data Structures https://www.youtube.com/watch?v=_3q7T_5JaTI