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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.