Installing the driver

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sudo apt install broadcom-sta-dkms

Configuring the connection

Open /etc/netplan/00-installer-config-wifi.yaml and make sure it has something like the following:

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# This is the network config written by 'subiquity'
network:
  version: 2
  wifis:
    wlp6s0:  # The network found with `ls /sys/class/net`
      access-points:
        {SSID}: # SSID
          password: {Password} # Password
      dhcp4: true

Close the file and run

sudo netplan apply

If there are errors use

sudo netplan -d apply

Checking for a valid connection

Run ip addr and look for a valid connections with an ip address