Paperback: RED DWARF: INFINITY WELCOMES CAREFUL DRIVERS by Grant Naylor, 1989 AND 1992, 0451452011.
I wanted to rewatch RED DWARF the television program. I could not find the program on any of the streaming services I use. I checked the library catalog for DVDs and found this paperback. I mostly enjoyed it.
Stop reading if you've not seen the TV show. You won't care.
The story is something of a prequel with Lister living in a storage locker on some slummy moon (planet?) and joining the space company as a way to make his way back to Earth. Rimmer is alive and annoying and ends up Lister's roommate. Lister acts up as a way to be sentenced to suspended animation so he can just wake back up after a few years when the ship arrives at Earth. Rimmer is killed when the rest of the crew are killed.
Lister is woken and I don't recall why. Rimmer essentially lucks out in being a hologram rather than the thousands of other people. (There are more explanations of all this stuff, you can read the book if you want to know.)
Kryten is discovered when the ship runs across Kryten's abandoned hulk on a planet. And we learn about cat's long geneaological heritage.