I found some info in Are You Being Served? The Inside Story of Britain's Funniest—and Public Television's Favorite—Comedy Series (KQED Books & Tapes, 1995).
Trevor Bannister was originally attracted to the part of Mr. Lucas because when he read the script for the pilot episode, he thought "Mr. Lucas seemed very much the main character. In the early episodes … everything revolved around Lucas—he was the one who was always getting into trouble." When Bannister accepted a role in the play Middle-Age Spread a few years later, the play's producers tried to arrange its schedule so that Bannister could still film AYBS on Sundays. But then the AYBS filming day was changed to Friday, and Bannister knew he couldn't appear in both, so he chose the play. He was OK with leaving AYBS because he felt it "was beginning to repeat itself—the same jokes were cropping up again. I thought there was a danger that it might outstay its welcome."
Show creator Jeremy Lloyd said, "We had a slight problem finding a role for [Bannister] because, although he was the new assistant, the youngest assistant, he clearly wasn't that young a man. But he was such a good actor that we wanted him and therefore he did have a large role [initially]. But gradually John Inman became a stronger and stronger character, and Mr. Lucas, to a certain extent, diminished." Originally Mr. Humphries "was just the kindly mentor for Mr. Lucas. … But every time he spoke, or just walked across the set, he got such a laugh that he was obviously written up more."
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