I looked Foundation (book series) up on Wiki and read a synopsis of the novels - it appears to be loosely based on "Foundation and Empire", and "Second Foundation" from the synopsis. Salvor Hardin in the novels is a white male Mayor of Terminus not Warden. (I think they substituted Warden for Mayor). Gaal is one of Hari's "white male" protegees apparently (so that's more or less the same?). Hari Seldon does appear to have a granddaughter - and they kind of combined Salvor and the granddaughter's characters (or so it appears).

And yes, I started watching it for Lee Pace as well. I fell in love with Lee Pace in Halt Catch Fire. And he is very good in this role (not to mention pretty), as is Terrence Man as Dusk (albeit not as pretty). I also adore Ben Daniels (added as Bel Riose) and the new character of Constance. And I love Salvor Hardin. The actress playing Demerzel is really good. Gaal gets on my nerves - but that's partly due to her poor development - she's more of a cypher character, or one who observes but doesn't do much at the moment - that may change. Hari Seldon also gets on my nerves - but for different reasons, and is possibly supposed to?

This is an interesting series - I'm not quite sure who to root for half of the time. I love the complexity. Did not realize Josh Friedman was Sarah Connor Chronicles fame - that explains a lot (I loved SCC). Also has Liz Phang (Yellowjackets, Haunting of Hill House, and The Strain.)