I don't think I agree that the only police procedurals were considered pulp--it's a whole subgenre of mystery novels, and they tend to be series (although not always): James Ellroy, Dorothy Simpson, Ed McBain, Joseph Wambaugh, H.R.F. Keating, James McClure, Lillian O'Donnell, Fred Vargas, Dell Shannon, Georges Simenon...okay, maybe Simenon could be considered pulp but only because he wrote SO MANY. None of the others, I think though, and there are lots more. Some actually have major character development, but most tend to be exactly like TV series in that there is not that much turnover, and not huge character changes, because they need to be there for the next story in the series.