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Since Husky publishes to topic /cmd_vel, you can learn how is done with teleop_twist_keyboard:

http://wiki.ros.org/teleop_twist_keyboard

sudo apt-get install ros-noetic-teleop-twist-keyboard

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

If you are interested in how the python file works, check the repo:

https://github.com/ros-teleop/teleop_twist_keyboard

Link to teleop_twist_keyboard.py code:

https://github.com/ros-teleop/teleop_twist_keyboard/blob/master/teleop_twist_keyboard.py

Hope this helps.