Who are the main characters in Foundation?

Salvor Hardin (Leah Harvey): We meet Salvor several decades after the Foundation ship arrives on Terminus, when the fledgling settlement is starting to put down roots. As mentioned, Salvor is the Warden of Terminus—basically, in charge of keeping the peace—and she has the unique ability to get close to the mysterious Vault. In addition to being a kick-ass fighter, she’s able to sense when someone’s lying, and she’s also plagued by mysterious visions. She’s a key player when survivors from Anacreon attempt to invade Terminus, intent on using the Foundation’s expert minds and advanced tech as part of a revenge scheme against Empire.
That conflict takes up most of Salvor’s storyline in season one, and once it’s resolved, she learns the truth about her origins: she’s the biological child of Gaal and Raych, conceived in space, stored in embryo form during the journey, and carried by another set of parents once they arrived on Terminus. Startled by this revelation, and convinced it has something to do with the visions she’s been having and her connection to the Vault, she heads off in search of Gaal.