If you are able to use the Spotify app on your computer or mobile device you can then hear Chris Barrie's reading of the first two (and arguably the best) RD novels Infinity Welcomes Careful Drivers and Better Than Life. You'll have to contend with a couple of 30sec ads every few chapters but it's not that bad. In the search field just type Red Dwarf Books. Two possibilities come up, one has the first book the other has both.
If you've never heard this before you're in for a treat.