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Grant Naylor's two Red Dwarf books: Neither of the two main characters, Lister and Rimmer, could be called a hero.
The first time you come across Lister, he is driving a stolen taxi on the moon Mimas. He found himself on Mimas after a very drunken night in Liverpool, Earth. Now he's trying to scam enough money to get home. His passenger is Rimmer, on his way to visit an android brothel (mix and match your own). Their behaviour goes downhill from there.
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