How do I write a code to move Husky robot in gazebo?

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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_keyb...

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_...

Link to teleop_twist_keyboard.py code:

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

Hope this helps.

You may need to take this tutorial on controlling the turtlebot (simulated) first.

http://wiki.ros.org/ROS/Tutorials/Und...

The concept is to Publish the "Command Velocity" Message to control the robot if the gazebo had already provided the node that running on ROS as a simulated running robot .