Darwin's companions on the HMS beagle?

On the HMS Beagle, Charles Darwin was accompanied by several key figures, including Captain Robert FitzRoy, who commanded the ship and played a significant role in Darwin's journey. Other notable companions included the ship's naturalist, John Stevens Henslow, who influenced Darwin's scientific interests, and various crew members who assisted in the ship's operations. The voyage, which lasted from 1831 to 1836, allowed Darwin to observe diverse ecosystems and gather data that would later inform his theory of evolution.