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So here's what I've done:

I followed the installation steps again: http://wiki.ros.org/Installation/Ubuntu

Afterwards, I was able to install husky via apt-get:

$ sudo apt-get install ros-melodic-husky-simulator

Then, there was no problem. By the way, instead of sourcing my workspace, I directly used command line to launch Husky, in other words, I wrote

$ roslaunch husky_gazebo husky_empty_world.launch to the command line. I later removed my workspace, it was messed up.