https://starbounder.org/CrewAs the achievement says, for this one you'll need to have recruited at least one of each playable races in the game in your spaceship crew at some point. They don't all need to have been there at the same time, as long as you've had that race recruited at some point, it will count, even if you dismissed them after.
https://starbounder.org/RacesThe seven races are the ape like Apex, the bird like Avian, the plant people Floran, the robots of the Glitch, the ole basic Human, the amphibious Hylotl, and finally the beings of energy the Novakid.
There are a couple different ways you can recruit someone for your space crew. You can find one of their villages(Or in case of the Humans, their campsites)and do quests for the NPCs there until one offers to join you, or you could invite specific tenants into your Colony/Colonies and do quests for them until they want to join.
The NPC villages can appear on most planet types, except for a few like Lush/Garden, Barren, Toxic and a couple others depending on the race. Apex will more likely be found on Tundra, Avian on Jungle, Floran on Forest, Glitch on Volcanic. Hylotl on Ocean, but only in their underwater cities, their above ground villages don't seem to have a preferred planet. The Human campsites will also not be found on any specific type of planet. Lastly the Novakids also do not have a preferred planet type.
Since finding the villages on planets can just be up to random chance, you may have more luck with attracting a specific tenant of that race to your Colony.
https://starbounder.org/TenantSo for example, you want a Glitch NPC to join your Colony. You'll want a Steampunk Fan, Sewer Worker, or a Royal Glitch to be a tenant. So you'll need to make a room with item/objects that adhere to the "Tags' those unique NPC require appear. So the Tags of Steampunk, Glitchsewer, and Glitchcastle respectively. But before even being able to place a Colony Deed down into a room, it needs to be fully enclosed in blocks, has a full background, a door, and a light source. Those four things are needed for the basics of building a room for a tenant. And of course you'll need to have either found or scanned objects of those specific tags, before you can place them into a room. You'll buy Colony Deeds from Frögg Furnishing in The Outpost, but only after completing the main mission to repair your ship. Frögg Furnishing also sells themed furniture that changes every 24 hours that may be helpful in attracting a certain unique tenant.
You can also attract random generic NPCs by building a room that includes their racial furniture, but I personally just found it easier to get the named unique NPCs. NPC merchants also cannot join your crew, they will still ask you to do quests, but they will never offer to join you.
Novakid was the last race to join my crew, as they need very specific furniture in order to be attracted as a tenant. I only found this furniture when I finally found one of their villages, so the furniture was kinda moot at that point. But I had also found a specific space encounter that included a bar of Novakids, which had their themed Saloon Furniture, which while I couldn't take, I could scan it. Once you get to Tier 4 Durasteel, you'll be able to make a Pixel Printer, which allows you to spend Pixels, to create almost anything in the game you've scanned.
So depending on when you can either find a Novakid village, or scan some of their furniture, this could be unlocked pretty early in the game, or not until later.