how let users select categories for posts in frontend?

i’ve added a custom taxonomy to categorized post in colors other than their main category and i want to let users to categorized posts in frontend and i have no idea how to do that…
is there anyway create a form to do this?

function color() {

$labels = array(
‘name’ => ‘Colors’,
‘singular_name’ => ‘Color’,
‘menu_name’ => ‘Color’,
‘all_items’ => ‘All Items’,
‘parent_item’ => ‘Parent Item’,
‘parent_item_colon’ => ‘Parent Item:’,
‘new_item_name’ => ‘New Item Name’,
‘add_new_item’ => ‘Add New Item’,
‘edit_item’ => ‘Edit Item’,
‘update_item’ => ‘Update Item’,
‘view_item’ => ‘View Item’,
‘separate_items_with_commas’ => ‘Separate items with commas’,
‘add_or_remove_items’ => ‘Add or remove items’,
‘choose_from_most_used’ => ‘Choose from the most used’,
‘popular_items’ => ‘Popular Items’,
‘search_items’ => ‘Search Items’,
‘not_found’ => ‘Not Found’,
‘no_terms’ => ‘No items’,
‘items_list’ => ‘Items list’,
‘items_list_navigation’ => ‘Items list navigation’,
);
$args = array(
‘labels’ => $labels,
‘hierarchical’ => true,
‘public’ => true,
‘show_ui’ => true,
‘show_admin_column’ => true,
‘show_in_nav_menus’ => true,
‘show_tagcloud’ => true,
);
register_taxonomy( ‘color’, array( ‘post’ ), $args );

}
add_action( ‘init’, ‘color’, 0 );

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