Get category of a taxonomy for a queries object in a loop

Not sure in what form you need the term/s, but here’s a piece of code that will first get all your posts’ terms, then print them out as linked names.

<?php
// Get Post Terms
$taxonomy_slug = "your-taxonomy";
$terms = get_the_terms( $post->ID, $taxonomy_slug );
if ( !empty( $terms ) ) {
  foreach ( $terms as $term ) {
    $out[] = '<a href="'. get_term_link( $term->slug, $taxonomy_slug ) .'">'. $term->name
. "</a>\n";
  }
  echo implode(', ', $out );
}
?>