Look to the I-864 Affidavit of Support instructions, if your husband does not earn enough to file a Affidavit of Support for you by himself, you can also include your in laws' income together with his income, in order to meet the required income amount, since you all live together in the same household. If you include his income and your in laws' income together, your in laws will have to also have to fill out a I-864A, Contract Between Sponsor and Household Member.
Any USC or LPR who meets the poverty guidelines and is will to be responsible can be a co-sponsor.
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Any individual that is a Legal Permanent Resident or U.S. Citizen. Note that the co-sponsor's income must meet the guidelines on his or her own. The income of the sponsor and the co-sponsor are not combined to meet the criteria. You can go to USCIS.gov and look at form I-864P to get a straight forward chart of the current federal poverty guidelines. Good luck!