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I made the same question in ROS Answers, and this answer helped me a lot. Like I said in the answer's comments, the PID controllers wasn't properly tuned, so I dropped down the PID values and now the Hexapod is stable.

I made the same question in ROS Answers, and this answer helped me a lot. Like I said in the answer's answer comments, the PID controllers wasn't properly tuned, so I dropped down the PID values and now the Hexapod is stable.