WordPress - Show categories that belong to the current custom post

single-knowledgebase.php

<?php
$taxonomy = 'foo_cat'; // Your category
$terms = get_the_terms($post->ID, $taxonomy ); // Get data for post ID
if ( $terms && !is_wp_error( $terms ) ) :
?>

<?php foreach ( $terms as $term ) { ?>
    <li><a href="<?php echo get_term_link($term->slug, $taxonomy); ?>"><?php echo $term->name; ?></a></li>
<?php } ?>

<?php endif;?>