The Odyssey Project
Odysseus: Husband of Penelope and father of Telemachus. Still pretending to be a beggar Odysseus goes into his home and goes around to test all of the suitors and maids. At the end of book 21 he proves to everyone that he is Odysseus by shooting the bow that none of the suitors could even bend.
Telemachus: Son of Penelope and Odysseus. Plots with Odysseus of how to kill the suitors and tells the maids to put all of the weapons and armor into the armory, so that the suitors won't be able to get to it when they start their plan.
Eurycleia: One of the oldest and most trusted maids in Odysseus' house and the first one to realize who Odysseus is on her own.
Penelope: Wife of Odysseus and mother of Telemachus. She's being overrun by suitors who want to take Odysseus' place as her husband. She's trying to stall them for such a long time because she doesn't want to marry any of them.
For example in the Odyssey there were two major omens. The first was something Penelope sees in her dream, "'I have twenty geese about the palace who pick up corn out of the water, and I amuse myself with watching them. But from the mountain came a great hook-beaked eagle and broke the necks of all and killed my geese.'", in her dream the eagle represented Odysseus and the suitors were the geese so her dream meant that Odysseus was going to return and kill the suitors.
The second was while the suitors were planning how to kill Telemachus: "Now for Telemachus the suitors had been plotting death and doom. But toward them, on the left, a bird came flying, a soaring eagle, clutching a timid dove.'" In this omen the eagle again is Odysseus and the dove represents Telemachus so this omen shows that Odysseus is going to return and that he is going to save Telemachus from the suitors plans.