Voodoo Planet by Andre Norton
Voodoo Planet (1959), the third installment of the DANE THORSON / SOLAR QUEEN series, is a rather weak entry in this otherwise terrific bunch of books. Here, Dane, Captain Jellico, and Medic Tau are stranded on Khatka, a planet that had been settled many years ago by Africans after the Second Atomic War.
Our boys fight off many alien creatures in the wilds of Khatka — the fight with the rock apes is a highlight of the story — and help conquer the evil witch doctor who is trying to overthrow the legitimate government.
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Oh, this sounds interesting!