diff --git a/fuse_models/CMakeLists.txt b/fuse_models/CMakeLists.txt
index dba1babd4..0df2d164d 100644
--- a/fuse_models/CMakeLists.txt
+++ b/fuse_models/CMakeLists.txt
@@ -55,9 +55,9 @@ add_library(${PROJECT_NAME}
   src/unicycle_2d.cpp
   src/unicycle_2d_ignition.cpp
   src/unicycle_2d_state_kinematic_constraint.cpp
-  src/unicycle_3d.cpp
-  src/unicycle_3d_ignition.cpp
-  src/unicycle_3d_state_kinematic_constraint.cpp
+  src/omnidirectional_3d.cpp
+  src/omnidirectional_3d_ignition.cpp
+  src/omnidirectional_3d_state_kinematic_constraint.cpp
 )
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
diff --git a/fuse_models/fuse_plugins.xml b/fuse_models/fuse_plugins.xml
index 4a8003d34..7830e9a81 100644
--- a/fuse_models/fuse_plugins.xml
+++ b/fuse_models/fuse_plugins.xml
@@ -12,13 +12,13 @@
     </description>
   </class>
 
-  <class type="fuse_models::Unicycle3DStateKinematicConstraint" base_class_type="fuse_core::Constraint">
+  <class type="fuse_models::Omnidirectional3DStateKinematicConstraint" base_class_type="fuse_core::Constraint">
     <description>
     A class that represents a kinematic constraint between 3D states at two different times.
     </description>
   </class>
 
-  <class type="fuse_models::Unicycle3D" base_class_type="fuse_core::MotionModel">
+  <class type="fuse_models::Omnidirectional3D" base_class_type="fuse_core::MotionModel">
     <description>
     A fuse_models 3D kinematic model that generates kinematic constraints between provided time stamps, and adds
     those constraints to the fuse graph.
@@ -101,9 +101,9 @@
     A fuse_models ignition sensor designed to be used in conjunction with the unicycle 2D motion model.
     </description>
   </class>
-  <class type="fuse_models::Unicycle3DIgnition" base_class_type="fuse_core::SensorModel">
+  <class type="fuse_models::Omnidirectional3DIgnition" base_class_type="fuse_core::SensorModel">
     <description>
-    A fuse_models ignition sensor designed to be used in conjunction with the unicycle 3D motion model.
+    A fuse_models ignition sensor designed to be used in conjunction with the Omnidirectional 3D motion model.
     </description>
   </class>
 </library>
diff --git a/fuse_models/include/fuse_models/odometry_3d_publisher.hpp b/fuse_models/include/fuse_models/odometry_3d_publisher.hpp
index f69caae0f..f1c70f441 100644
--- a/fuse_models/include/fuse_models/odometry_3d_publisher.hpp
+++ b/fuse_models/include/fuse_models/odometry_3d_publisher.hpp
@@ -74,7 +74,7 @@ namespace fuse_models
  *                                      the tf tree
  *  - predict_to_current_time (bool, default: false) The tf publication happens at a fixed rate.
  *                                                   This parameter specifies whether we should
- *                                                   predict, using the 3D unicycle model, the state
+ *                                                   predict, using the 3D omnidirectional model, the state
  *                                                   at the time of the tf publication, rather than
  *                                                   the last posterior (optimized) state.
  *  - publish_frequency (double, default: 10.0)  How often, in Hz, we publish the filtered state
diff --git a/fuse_models/include/fuse_models/unicycle_3d.hpp b/fuse_models/include/fuse_models/omnidirectional_3d.hpp
similarity index 97%
rename from fuse_models/include/fuse_models/unicycle_3d.hpp
rename to fuse_models/include/fuse_models/omnidirectional_3d.hpp
index 0addd4070..f8e4ccab3 100644
--- a/fuse_models/include/fuse_models/unicycle_3d.hpp
+++ b/fuse_models/include/fuse_models/omnidirectional_3d.hpp
@@ -70,22 +70,22 @@ namespace fuse_models
  *                                                 x_vel, y_vel, z_vel, roll_vel, pitch_vel, yaw_vel, 
  *                                                 x_acc, y_acc, z_acc).
  */
-class Unicycle3D : public fuse_core::AsyncMotionModel
+class Omnidirectional3D : public fuse_core::AsyncMotionModel
 {
 public:
-  FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(Unicycle3D)
+  FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(Omnidirectional3D)
 
   /**
    * @brief Default constructor
    *
    * All plugins are required to have a constructor that accepts no arguments
    */
-  Unicycle3D();
+  Omnidirectional3D();
 
   /**
    * @brief Destructor
    */
-  ~Unicycle3D() = default;
+  ~Omnidirectional3D() = default;
 
   /**
    * @brief Shadowing extension to the AsyncMotionModel::initialize call
@@ -237,7 +237,7 @@ class Unicycle3D : public fuse_core::AsyncMotionModel
   StateHistory state_history_;    //!< History of optimized graph pose estimates
 };
 
-std::ostream & operator<<(std::ostream & stream, const Unicycle3D & unicycle_2d);
+std::ostream & operator<<(std::ostream & stream, const Omnidirectional3D & unicycle_2d);
 
 }  // namespace fuse_models
 
diff --git a/fuse_models/include/fuse_models/unicycle_3d_ignition.hpp b/fuse_models/include/fuse_models/omnidirectional_3d_ignition.hpp
similarity index 92%
rename from fuse_models/include/fuse_models/unicycle_3d_ignition.hpp
rename to fuse_models/include/fuse_models/omnidirectional_3d_ignition.hpp
index 5dba3b875..ecbf39028 100644
--- a/fuse_models/include/fuse_models/unicycle_3d_ignition.hpp
+++ b/fuse_models/include/fuse_models/omnidirectional_3d_ignition.hpp
@@ -41,7 +41,7 @@
 #include <fuse_core/async_sensor_model.hpp>
 #include <fuse_core/fuse_macros.hpp>
 #include <fuse_core/uuid.hpp>
-#include <fuse_models/parameters/unicycle_3d_ignition_params.hpp>
+#include <fuse_models/parameters/omnidirectional_3d_ignition_params.hpp>
 #include <fuse_msgs/srv/set_pose.hpp>
 #include <fuse_msgs/srv/set_pose_deprecated.hpp>
 
@@ -54,11 +54,11 @@ namespace fuse_models
 {
 
 /**
- * @brief A fuse_models ignition sensor designed to be used in conjunction with the unicycle 3D
+ * @brief A fuse_models ignition sensor designed to be used in conjunction with the Omnidirectional 3D
  *        motion model.
  *
  * This class publishes a transaction that contains a prior on each state subvariable used in the
- * unicycle 3D motion model (x, y, z, qx, qy, qz, x_vel, y_vel, z_vel, roll_vel, pitch_vel, 
+ * Omnidirectional 3D motion model (x, y, z, qx, qy, qz, x_vel, y_vel, z_vel, roll_vel, pitch_vel, 
  * yaw_vel, x_acc, y_acc, z_acc). When the sensor is first loaded, it publishes a single transaction 
  * with the configured initial state and covariance.
  * Additionally, whenever a pose is received, either on the set_pose service or the topic, this
@@ -90,23 +90,23 @@ namespace fuse_models
  *  - ~topic (string, default: "set_pose") The topic name for received PoseWithCovarianceStamped
  *                                         messages
  */
-class Unicycle3DIgnition : public fuse_core::AsyncSensorModel
+class Omnidirectional3DIgnition : public fuse_core::AsyncSensorModel
 {
 public:
-  FUSE_SMART_PTR_DEFINITIONS(Unicycle3DIgnition)
-  using ParameterType = parameters::Unicycle3DIgnitionParams;
+  FUSE_SMART_PTR_DEFINITIONS(Omnidirectional3DIgnition)
+  using ParameterType = parameters::Omnidirectional3DIgnitionParams;
 
   /**
    * @brief Default constructor
    *
    * All plugins are required to have a constructor that accepts no arguments
    */
-  Unicycle3DIgnition();
+  Omnidirectional3DIgnition();
 
   /**
    * @brief Destructor
    */
-  ~Unicycle3DIgnition() = default;
+  ~Omnidirectional3DIgnition() = default;
 
   /**
    * @brief Shadowing extension to the AsyncSensorModel::initialize call
@@ -120,7 +120,7 @@ class Unicycle3DIgnition : public fuse_core::AsyncSensorModel
    * @brief Subscribe to the input topic to start sending transactions to the optimizer
    *
    * As a very special case, we are overriding the start() method instead of providing an onStart()
-   * implementation. This is because the Unicycle3DIgnition sensor calls reset() on the optimizer,
+   * implementation. This is because the Omnidirectional3DIgnition sensor calls reset() on the optimizer,
    * which in turn calls stop() and start(). If we used the AsyncSensorModel implementations of
    * start() and stop(), the system would hang inside of one callback function while waiting for
    * another callback to complete.
@@ -131,7 +131,7 @@ class Unicycle3DIgnition : public fuse_core::AsyncSensorModel
    * @brief Unsubscribe from the input topic to stop sending transactions to the optimizer
    *
    * As a very special case, we are overriding the stop() method instead of providing an onStop()
-   * implementation. This is because the Unicycle3DIgnition sensor calls reset() on the optimizer,
+   * implementation. This is because the Omnidirectional3DIgnition sensor calls reset() on the optimizer,
    * which in turn calls stop() and start(). If we used the AsyncSensorModel implementations of
    * start() and stop(), the system would hang inside of one callback function while waiting for
    * another callback to complete.
@@ -180,7 +180,7 @@ class Unicycle3DIgnition : public fuse_core::AsyncSensorModel
   /**
    * @brief Create and send a prior transaction based on the supplied pose
    *
-   * The unicycle 3d state members not included in the pose message (x_vel, y_vel, z_vel, roll_vel, pitch_vel, 
+   * The omnidirectional 3d state members not included in the pose message (x_vel, y_vel, z_vel, roll_vel, pitch_vel, 
    * yaw_vel, x_acc, y_acc, z_acc) will use the initial state values and standard deviations configured on the 
    * parameter server.
    *
diff --git a/fuse_models/include/fuse_models/unicycle_3d_predict.hpp b/fuse_models/include/fuse_models/omnidirectional_3d_predict.hpp
similarity index 100%
rename from fuse_models/include/fuse_models/unicycle_3d_predict.hpp
rename to fuse_models/include/fuse_models/omnidirectional_3d_predict.hpp
diff --git a/fuse_models/include/fuse_models/unicycle_3d_state_cost_function.hpp b/fuse_models/include/fuse_models/omnidirectional_3d_state_cost_function.hpp
similarity index 97%
rename from fuse_models/include/fuse_models/unicycle_3d_state_cost_function.hpp
rename to fuse_models/include/fuse_models/omnidirectional_3d_state_cost_function.hpp
index 29048e7ff..730d48def 100644
--- a/fuse_models/include/fuse_models/unicycle_3d_state_cost_function.hpp
+++ b/fuse_models/include/fuse_models/omnidirectional_3d_state_cost_function.hpp
@@ -36,7 +36,7 @@
 
 #include <ceres/sized_cost_function.h>
 
-#include <fuse_models/unicycle_3d_predict.hpp>
+#include <fuse_models/omnidirectional_3d_predict.hpp>
 
 #include <fuse_core/eigen.hpp>
 #include <fuse_core/fuse_macros.hpp>
@@ -84,7 +84,7 @@ namespace fuse_models
  * where, mu is a vector and S is a covariance matrix, then, A = S^{-1/2}, i.e the matrix A is the
  * square root information matrix (the inverse of the covariance).
  */
-class Unicycle3DStateCostFunction : public ceres::SizedCostFunction<15, 3, 4, 3, 3, 3, 3, 4, 3, 3, 3>
+class Omnidirectional3DStateCostFunction : public ceres::SizedCostFunction<15, 3, 4, 3, 3, 3, 3, 4, 3, 3, 3>
 {
 public:
   FUSE_MAKE_ALIGNED_OPERATOR_NEW()
@@ -97,7 +97,7 @@ class Unicycle3DStateCostFunction : public ceres::SizedCostFunction<15, 3, 4, 3,
    *              order (x, y, z, roll, pitch, yaw, x_vel, y_vel, z_vel, roll_vel, pitch_vel, yaw_vel, 
    *              x_acc, y_acc, z_acc)
    */
-  Unicycle3DStateCostFunction(const double dt, const fuse_core::Matrix15d & A);
+  Omnidirectional3DStateCostFunction(const double dt, const fuse_core::Matrix15d & A);
 
   /**
    * @brief Evaluate the cost function. Used by the Ceres optimization engine.
@@ -279,7 +279,7 @@ class Unicycle3DStateCostFunction : public ceres::SizedCostFunction<15, 3, 4, 3,
                             //!< information matrix
 };
 
-Unicycle3DStateCostFunction::Unicycle3DStateCostFunction(
+Omnidirectional3DStateCostFunction::Omnidirectional3DStateCostFunction(
   const double dt,
   const fuse_core::Matrix15d & A)
 : dt_(dt),
diff --git a/fuse_models/include/fuse_models/unicycle_3d_state_cost_functor.hpp b/fuse_models/include/fuse_models/omnidirectional_3d_state_cost_functor.hpp
similarity index 96%
rename from fuse_models/include/fuse_models/unicycle_3d_state_cost_functor.hpp
rename to fuse_models/include/fuse_models/omnidirectional_3d_state_cost_functor.hpp
index b632ecb44..d95523a01 100644
--- a/fuse_models/include/fuse_models/unicycle_3d_state_cost_functor.hpp
+++ b/fuse_models/include/fuse_models/omnidirectional_3d_state_cost_functor.hpp
@@ -34,7 +34,7 @@
 #ifndef FUSE_MODELS__UNICYCLE_3D_STATE_COST_FUNCTOR_HPP_
 #define FUSE_MODELS__UNICYCLE_3D_STATE_COST_FUNCTOR_HPP_
 
-#include <fuse_models/unicycle_3d_predict.hpp>
+#include <fuse_models/omnidirectional_3d_predict.hpp>
 
 #include <fuse_core/eigen.hpp>
 #include <fuse_core/fuse_macros.hpp>
@@ -82,7 +82,7 @@ namespace fuse_models
  * where, mu is a vector and S is a covariance matrix, then, A = S^{-1/2}, i.e the matrix A is the
  * square root information matrix (the inverse of the covariance).
  */
-class Unicycle3DStateCostFunctor
+class Omnidirectional3DStateCostFunctor
 {
 public:
   FUSE_MAKE_ALIGNED_OPERATOR_NEW()
@@ -95,7 +95,7 @@ class Unicycle3DStateCostFunctor
    *              order (x, y, z, qx, qy, qz, qw, x_vel, y_vel, z_vel, roll_vel, pitch_vel, yaw_vel, 
    *                      x_acc, y_acc, z_acc)
    */
-  Unicycle3DStateCostFunctor(const double dt, const fuse_core::Matrix15d & A);
+  Omnidirectional3DStateCostFunctor(const double dt, const fuse_core::Matrix15d & A);
 
   /**
    * @brief Evaluate the cost function. Used by the Ceres optimization engine.
@@ -131,7 +131,7 @@ class Unicycle3DStateCostFunctor
                            //!< information matrix
 };
 
-Unicycle3DStateCostFunctor::Unicycle3DStateCostFunctor(
+Omnidirectional3DStateCostFunctor::Omnidirectional3DStateCostFunctor(
   const double dt,
   const fuse_core::Matrix15d & A)
 : dt_(dt),
@@ -140,7 +140,7 @@ Unicycle3DStateCostFunctor::Unicycle3DStateCostFunctor(
 }
 
 template<typename T>
-bool Unicycle3DStateCostFunctor::operator()(
+bool Omnidirectional3DStateCostFunctor::operator()(
   const T * const position1,
   const T * const orientation1,
   const T * const vel_linear1,
diff --git a/fuse_models/include/fuse_models/unicycle_3d_state_kinematic_constraint.hpp b/fuse_models/include/fuse_models/omnidirectional_3d_state_kinematic_constraint.hpp
similarity index 94%
rename from fuse_models/include/fuse_models/unicycle_3d_state_kinematic_constraint.hpp
rename to fuse_models/include/fuse_models/omnidirectional_3d_state_kinematic_constraint.hpp
index e7d313a36..a61de7bab 100644
--- a/fuse_models/include/fuse_models/unicycle_3d_state_kinematic_constraint.hpp
+++ b/fuse_models/include/fuse_models/omnidirectional_3d_state_kinematic_constraint.hpp
@@ -63,15 +63,15 @@ namespace fuse_models
  * The fuse_models 3D state is a combination of 3D position, 3D orientation, 3D linear velocity, 3D
  * angular velocity, and 3D linear acceleration.
  */
-class Unicycle3DStateKinematicConstraint : public fuse_core::Constraint
+class Omnidirectional3DStateKinematicConstraint : public fuse_core::Constraint
 {
 public:
-  FUSE_CONSTRAINT_DEFINITIONS_WITH_EIGEN(Unicycle3DStateKinematicConstraint)
+  FUSE_CONSTRAINT_DEFINITIONS_WITH_EIGEN(Omnidirectional3DStateKinematicConstraint)
 
   /**
    * @brief Default constructor
    */
-  Unicycle3DStateKinematicConstraint() = default;
+  Omnidirectional3DStateKinematicConstraint() = default;
 
   /**
    * @brief Create a constraint using a time delta and a kinematic model cost functor
@@ -94,7 +94,7 @@ class Unicycle3DStateKinematicConstraint : public fuse_core::Constraint
    *                                  roll, pitch, yaw, x_vel, y_vel, z_vel, roll_vel, pitch_vel, yaw_vel, 
    *                                  x_acc, y_acc, z_acc)
    */
-  Unicycle3DStateKinematicConstraint(
+  Omnidirectional3DStateKinematicConstraint(
     const std::string & source,
     const fuse_variables::Position3DStamped & position1,
     const fuse_variables::Orientation3DStamped & orientation1,
@@ -111,7 +111,7 @@ class Unicycle3DStateKinematicConstraint : public fuse_core::Constraint
   /**
    * @brief Destructor
    */
-  virtual ~Unicycle3DStateKinematicConstraint() = default;
+  virtual ~Omnidirectional3DStateKinematicConstraint() = default;
 
   /**
    * @brief Read-only access to the time delta between the first and second state (really, between
@@ -183,6 +183,6 @@ class Unicycle3DStateKinematicConstraint : public fuse_core::Constraint
 
 }  // namespace fuse_models
 
-BOOST_CLASS_EXPORT_KEY(fuse_models::Unicycle3DStateKinematicConstraint);
+BOOST_CLASS_EXPORT_KEY(fuse_models::Omnidirectional3DStateKinematicConstraint);
 
 #endif  // FUSE_MODELS__UNICYCLE_3D_STATE_KINEMATIC_CONSTRAINT_HPP_
diff --git a/fuse_models/include/fuse_models/parameters/unicycle_3d_ignition_params.hpp b/fuse_models/include/fuse_models/parameters/omnidirectional_3d_ignition_params.hpp
similarity index 98%
rename from fuse_models/include/fuse_models/parameters/unicycle_3d_ignition_params.hpp
rename to fuse_models/include/fuse_models/parameters/omnidirectional_3d_ignition_params.hpp
index 8bf946f8d..053ac5572 100644
--- a/fuse_models/include/fuse_models/parameters/unicycle_3d_ignition_params.hpp
+++ b/fuse_models/include/fuse_models/parameters/omnidirectional_3d_ignition_params.hpp
@@ -52,9 +52,9 @@ namespace parameters
 {
 
 /**
- * @brief Defines the set of parameters required by the Unicycle3DIgnition class
+ * @brief Defines the set of parameters required by the Omnidirectional3DIgnition class
  */
-struct Unicycle3DIgnitionParams : public ParameterBase
+struct Omnidirectional3DIgnitionParams : public ParameterBase
 {
 public:
   /**
diff --git a/fuse_models/src/odometry_3d_publisher.cpp b/fuse_models/src/odometry_3d_publisher.cpp
index 48b6894dc..6fb94e5ee 100644
--- a/fuse_models/src/odometry_3d_publisher.cpp
+++ b/fuse_models/src/odometry_3d_publisher.cpp
@@ -47,7 +47,7 @@
 #include <fuse_core/uuid.hpp>
 #include <fuse_models/common/sensor_proc.hpp>
 #include <fuse_models/odometry_3d_publisher.hpp>
-#include <fuse_models/unicycle_3d_predict.hpp>
+#include <fuse_models/omnidirectional_3d_predict.hpp>
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <pluginlib/class_list_macros.hpp>
diff --git a/fuse_models/src/unicycle_3d.cpp b/fuse_models/src/omnidirectional_3d.cpp
similarity index 95%
rename from fuse_models/src/unicycle_3d.cpp
rename to fuse_models/src/omnidirectional_3d.cpp
index 6c6588811..92534d25d 100644
--- a/fuse_models/src/unicycle_3d.cpp
+++ b/fuse_models/src/omnidirectional_3d.cpp
@@ -47,9 +47,9 @@
 #include <fuse_core/variable.hpp>
 #include <fuse_models/common/sensor_proc.hpp>
 #include <fuse_models/parameters/parameter_base.hpp>
-#include <fuse_models/unicycle_3d.hpp>
-#include <fuse_models/unicycle_3d_predict.hpp>
-#include <fuse_models/unicycle_3d_state_kinematic_constraint.hpp>
+#include <fuse_models/omnidirectional_3d.hpp>
+#include <fuse_models/omnidirectional_3d_predict.hpp>
+#include <fuse_models/omnidirectional_3d_state_kinematic_constraint.hpp>
 #include <fuse_variables/acceleration_linear_3d_stamped.hpp>
 #include <fuse_variables/orientation_3d_stamped.hpp>
 #include <fuse_variables/position_3d_stamped.hpp>
@@ -60,7 +60,7 @@
 #include <rclcpp/rclcpp.hpp>
 
 // Register this motion model with ROS as a plugin.
-PLUGINLIB_EXPORT_CLASS(fuse_models::Unicycle3D, fuse_core::MotionModel)
+PLUGINLIB_EXPORT_CLASS(fuse_models::Omnidirectional3D, fuse_core::MotionModel)
 
 namespace std
 {
@@ -117,16 +117,16 @@ inline void validateCovariance(
 namespace fuse_models
 {
 
-Unicycle3D::Unicycle3D()
+Omnidirectional3D::Omnidirectional3D()
 : fuse_core::AsyncMotionModel(1), // Thread count = 1 for local callback queue
   logger_(rclcpp::get_logger("uninitialized")),
   buffer_length_(rclcpp::Duration::max()),
   device_id_(fuse_core::uuid::NIL),
-  timestamp_manager_(&Unicycle3D::generateMotionModel, this, rclcpp::Duration::max())
+  timestamp_manager_(&Omnidirectional3D::generateMotionModel, this, rclcpp::Duration::max())
 {
 }
 
-void Unicycle3D::print(std::ostream & stream) const
+void Omnidirectional3D::print(std::ostream & stream) const
 {
   stream << "state history:\n";
   for (const auto & state : state_history_) {
@@ -135,7 +135,7 @@ void Unicycle3D::print(std::ostream & stream) const
   }
 }
 
-void Unicycle3D::StateHistoryElement::print(std::ostream & stream) const
+void Omnidirectional3D::StateHistoryElement::print(std::ostream & stream) const
 {
   stream << "  position uuid: " << position_uuid << "\n"
          << "  orientation uuid: " << orientation_uuid << "\n"
@@ -149,7 +149,7 @@ void Unicycle3D::StateHistoryElement::print(std::ostream & stream) const
          << "  acceleration linear: " << acc_linear << "\n";
 }
 
-void Unicycle3D::StateHistoryElement::validate() const
+void Omnidirectional3D::StateHistoryElement::validate() const
 {
   if (!std::isfinite(position)) {
     throw std::runtime_error("Invalid position " + std::to_string(position));
@@ -168,7 +168,7 @@ void Unicycle3D::StateHistoryElement::validate() const
   }
 }
 
-bool Unicycle3D::applyCallback(fuse_core::Transaction & transaction)
+bool Omnidirectional3D::applyCallback(fuse_core::Transaction & transaction)
 {
   // Use the timestamp manager to generate just the required motion model segments. The timestamp
   // manager, in turn, makes calls to the generateMotionModel() function.
@@ -184,12 +184,12 @@ bool Unicycle3D::applyCallback(fuse_core::Transaction & transaction)
   return true;
 }
 
-void Unicycle3D::onGraphUpdate(fuse_core::Graph::ConstSharedPtr graph)
+void Omnidirectional3D::onGraphUpdate(fuse_core::Graph::ConstSharedPtr graph)
 {
   updateStateHistoryEstimates(*graph, state_history_, buffer_length_);
 }
 
-void Unicycle3D::initialize(
+void Omnidirectional3D::initialize(
   fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
   const std::string & name)
 {
@@ -197,7 +197,7 @@ void Unicycle3D::initialize(
   fuse_core::AsyncMotionModel::initialize(interfaces, name);
 }
 
-void Unicycle3D::onInit()
+void Omnidirectional3D::onInit()
 {
   logger_ = interfaces_.get_node_logging_interface()->get_logger();
   clock_ = interfaces_.get_node_clock_interface()->get_clock();
@@ -264,13 +264,13 @@ void Unicycle3D::onInit()
   device_id_ = fuse_variables::loadDeviceId(interfaces_);
 }
 
-void Unicycle3D::onStart()
+void Omnidirectional3D::onStart()
 {
   timestamp_manager_.clear();
   state_history_.clear();
 }
 
-void Unicycle3D::generateMotionModel(
+void Omnidirectional3D::generateMotionModel(
   const rclcpp::Time & beginning_stamp,
   const rclcpp::Time & ending_stamp,
   std::vector<fuse_core::Constraint::SharedPtr> & constraints,
@@ -458,7 +458,7 @@ void Unicycle3D::generateMotionModel(
   }
 
   // Create the constraints for this motion model segment
-  auto constraint = fuse_models::Unicycle3DStateKinematicConstraint::make_shared(
+  auto constraint = fuse_models::Omnidirectional3DStateKinematicConstraint::make_shared(
     name(),
     *position1,
     *orientation1,
@@ -486,7 +486,7 @@ void Unicycle3D::generateMotionModel(
   variables.push_back(acceleration_linear2);
 }
 
-void Unicycle3D::updateStateHistoryEstimates(
+void Omnidirectional3D::updateStateHistoryEstimates(
   const fuse_core::Graph & graph,
   StateHistory & state_history,
   const rclcpp::Duration & buffer_length)
@@ -592,7 +592,7 @@ void Unicycle3D::updateStateHistoryEstimates(
   }
 }
 
-void Unicycle3D::validateMotionModel(
+void Omnidirectional3D::validateMotionModel(
   const StateHistoryElement & state1, const StateHistoryElement & state2,
   const fuse_core::Matrix15d & process_noise_covariance)
 {
@@ -614,9 +614,9 @@ void Unicycle3D::validateMotionModel(
   }
 }
 
-std::ostream & operator<<(std::ostream & stream, const Unicycle3D & unicycle_3d)
+std::ostream & operator<<(std::ostream & stream, const Omnidirectional3D & omnidirectional_3d)
 {
-  unicycle_3d.print(stream);
+  omnidirectional_3d.print(stream);
   return stream;
 }
 
diff --git a/fuse_models/src/unicycle_3d_ignition.cpp b/fuse_models/src/omnidirectional_3d_ignition.cpp
similarity index 95%
rename from fuse_models/src/unicycle_3d_ignition.cpp
rename to fuse_models/src/omnidirectional_3d_ignition.cpp
index 648c15b5c..d545007d0 100644
--- a/fuse_models/src/unicycle_3d_ignition.cpp
+++ b/fuse_models/src/omnidirectional_3d_ignition.cpp
@@ -46,7 +46,7 @@
 #include <fuse_core/transaction.hpp>
 #include <fuse_core/util.hpp>
 #include <fuse_core/uuid.hpp>
-#include <fuse_models/unicycle_3d_ignition.hpp>
+#include <fuse_models/omnidirectional_3d_ignition.hpp>
 #include <fuse_msgs/srv/set_pose.hpp>
 #include <fuse_msgs/srv/set_pose_deprecated.hpp>
 #include <fuse_variables/acceleration_linear_3d_stamped.hpp>
@@ -61,12 +61,12 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 // Register this motion model with ROS as a plugin.
-PLUGINLIB_EXPORT_CLASS(fuse_models::Unicycle3DIgnition, fuse_core::SensorModel);
+PLUGINLIB_EXPORT_CLASS(fuse_models::Omnidirectional3DIgnition, fuse_core::SensorModel);
 
 namespace fuse_models
 {
 
-Unicycle3DIgnition::Unicycle3DIgnition()
+Omnidirectional3DIgnition::Omnidirectional3DIgnition()
 : fuse_core::AsyncSensorModel(1),
   started_(false),
   initial_transaction_sent_(false),
@@ -75,7 +75,7 @@ Unicycle3DIgnition::Unicycle3DIgnition()
 {
 }
 
-void Unicycle3DIgnition::initialize(
+void Omnidirectional3DIgnition::initialize(
   fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
   const std::string & name,
   fuse_core::TransactionCallback transaction_callback)
@@ -84,7 +84,7 @@ void Unicycle3DIgnition::initialize(
   fuse_core::AsyncSensorModel::initialize(interfaces, name, transaction_callback);
 }
 
-void Unicycle3DIgnition::onInit()
+void Omnidirectional3DIgnition::onInit()
 {
   logger_ = interfaces_.get_node_logging_interface()->get_logger();
   clock_ = interfaces_.get_node_clock_interface()->get_clock();
@@ -113,7 +113,7 @@ void Unicycle3DIgnition::onInit()
     interfaces_,
     params_.topic,
     params_.queue_size,
-    std::bind(&Unicycle3DIgnition::subscriberCallback, this, std::placeholders::_1),
+    std::bind(&Omnidirectional3DIgnition::subscriberCallback, this, std::placeholders::_1),
     sub_options
   );
 
@@ -124,7 +124,7 @@ void Unicycle3DIgnition::onInit()
       interfaces_.get_node_base_interface()->get_name(),
       params_.set_pose_service),
     std::bind(
-      &Unicycle3DIgnition::setPoseServiceCallback, this, std::placeholders::_1,
+      &Omnidirectional3DIgnition::setPoseServiceCallback, this, std::placeholders::_1,
       std::placeholders::_2, std::placeholders::_3),
     rclcpp::ServicesQoS(),
     cb_group_
@@ -136,14 +136,14 @@ void Unicycle3DIgnition::onInit()
       interfaces_.get_node_base_interface()->get_name(),
       params_.set_pose_deprecated_service),
     std::bind(
-      &Unicycle3DIgnition::setPoseDeprecatedServiceCallback, this, std::placeholders::_1,
+      &Omnidirectional3DIgnition::setPoseDeprecatedServiceCallback, this, std::placeholders::_1,
       std::placeholders::_2, std::placeholders::_3),
     rclcpp::ServicesQoS(),
     cb_group_
   );
 }
 
-void Unicycle3DIgnition::start()
+void Omnidirectional3DIgnition::start()
 {
   started_ = true;
 
@@ -171,12 +171,12 @@ void Unicycle3DIgnition::start()
   }
 }
 
-void Unicycle3DIgnition::stop()
+void Omnidirectional3DIgnition::stop()
 {
   started_ = false;
 }
 
-void Unicycle3DIgnition::subscriberCallback(
+void Omnidirectional3DIgnition::subscriberCallback(
   const geometry_msgs::msg::PoseWithCovarianceStamped & msg)
 {
   try {
@@ -186,7 +186,7 @@ void Unicycle3DIgnition::subscriberCallback(
   }
 }
 
-bool Unicycle3DIgnition::setPoseServiceCallback(
+bool Omnidirectional3DIgnition::setPoseServiceCallback(
   rclcpp::Service<fuse_msgs::srv::SetPose>::SharedPtr service,
   std::shared_ptr<rmw_request_id_t> request_id,
   const fuse_msgs::srv::SetPose::Request::SharedPtr req)
@@ -209,7 +209,7 @@ bool Unicycle3DIgnition::setPoseServiceCallback(
   return true;
 }
 
-bool Unicycle3DIgnition::setPoseDeprecatedServiceCallback(
+bool Omnidirectional3DIgnition::setPoseDeprecatedServiceCallback(
   rclcpp::Service<fuse_msgs::srv::SetPoseDeprecated>::SharedPtr service,
   std::shared_ptr<rmw_request_id_t> request_id,
   const fuse_msgs::srv::SetPoseDeprecated::Request::SharedPtr req)
@@ -229,7 +229,7 @@ bool Unicycle3DIgnition::setPoseDeprecatedServiceCallback(
   return true;
 }
 
-void Unicycle3DIgnition::process(
+void Omnidirectional3DIgnition::process(
   const geometry_msgs::msg::PoseWithCovarianceStamped & pose, std::function<void()> post_process)
 {
   // Verify we are in the correct state to process set pose requests
@@ -329,7 +329,7 @@ void Unicycle3DIgnition::process(
   }
 }
 
-void Unicycle3DIgnition::sendPrior(const geometry_msgs::msg::PoseWithCovarianceStamped & pose)
+void Omnidirectional3DIgnition::sendPrior(const geometry_msgs::msg::PoseWithCovarianceStamped & pose)
 {
   const auto & stamp = pose.header.stamp;
 
diff --git a/fuse_models/src/unicycle_3d_state_kinematic_constraint.cpp b/fuse_models/src/omnidirectional_3d_state_kinematic_constraint.cpp
similarity index 83%
rename from fuse_models/src/unicycle_3d_state_kinematic_constraint.cpp
rename to fuse_models/src/omnidirectional_3d_state_kinematic_constraint.cpp
index 0fe1f3a46..7caf9dc3b 100644
--- a/fuse_models/src/unicycle_3d_state_kinematic_constraint.cpp
+++ b/fuse_models/src/omnidirectional_3d_state_kinematic_constraint.cpp
@@ -36,8 +36,8 @@
 #include <string>
 
 #include <boost/serialization/export.hpp>
-#include <fuse_models/unicycle_3d_state_cost_function.hpp>
-#include <fuse_models/unicycle_3d_state_kinematic_constraint.hpp>
+#include <fuse_models/omnidirectional_3d_state_cost_function.hpp>
+#include <fuse_models/omnidirectional_3d_state_kinematic_constraint.hpp>
 #include <fuse_variables/acceleration_linear_3d_stamped.hpp>
 #include <fuse_variables/orientation_3d_stamped.hpp>
 #include <fuse_variables/position_3d_stamped.hpp>
@@ -48,7 +48,7 @@
 namespace fuse_models
 {
 
-Unicycle3DStateKinematicConstraint::Unicycle3DStateKinematicConstraint(
+Omnidirectional3DStateKinematicConstraint::Omnidirectional3DStateKinematicConstraint(
   const std::string & source,
   const fuse_variables::Position3DStamped & position1,
   const fuse_variables::Orientation3DStamped & orientation1,
@@ -78,7 +78,7 @@ Unicycle3DStateKinematicConstraint::Unicycle3DStateKinematicConstraint(
 {
 }
 
-void Unicycle3DStateKinematicConstraint::print(std::ostream & stream) const
+void Omnidirectional3DStateKinematicConstraint::print(std::ostream & stream) const
 {
   stream << type() << "\n"
          << "  source: " << source() << "\n"
@@ -97,21 +97,21 @@ void Unicycle3DStateKinematicConstraint::print(std::ostream & stream) const
          << "  sqrt_info: " << sqrtInformation() << "\n";
 }
 
-ceres::CostFunction * Unicycle3DStateKinematicConstraint::costFunction() const
+ceres::CostFunction * Omnidirectional3DStateKinematicConstraint::costFunction() const
 {
-  return new Unicycle3DStateCostFunction(dt_, sqrt_information_);
+  return new Omnidirectional3DStateCostFunction(dt_, sqrt_information_);
   // Here we return a cost function that computes the analytic derivatives/jacobians, but we could
   // use automatic differentiation as follows:
   //
-  // return new ceres::AutoDiffCostFunction<Unicycle3DStateCostFunctor, 15, 3, 4, 3, 3, 3, 3, 4, 3, 3, 3>(
-  //   new Unicycle3DStateCostFunctor(dt_, sqrt_information_));
+  // return new ceres::AutoDiffCostFunction<Omnidirectional3DStateCostFunctor, 15, 3, 4, 3, 3, 3, 3, 4, 3, 3, 3>(
+  //   new Omnidirectional3DStateCostFunctor(dt_, sqrt_information_));
 
   // And including the followings:
   // #include <ceres/autodiff_cost_function.h>
-  // #include <fuse_models/unicycle_3d_state_cost_functor.hpp>
+  // #include <fuse_models/omnidirectional_3d_state_cost_functor.hpp>
 }
 
 }  // namespace fuse_models
 
-BOOST_CLASS_EXPORT_IMPLEMENT(fuse_models::Unicycle3DStateKinematicConstraint);
-PLUGINLIB_EXPORT_CLASS(fuse_models::Unicycle3DStateKinematicConstraint, fuse_core::Constraint);
+BOOST_CLASS_EXPORT_IMPLEMENT(fuse_models::Omnidirectional3DStateKinematicConstraint);
+PLUGINLIB_EXPORT_CLASS(fuse_models::Omnidirectional3DStateKinematicConstraint, fuse_core::Constraint);
diff --git a/fuse_models/test/CMakeLists.txt b/fuse_models/test/CMakeLists.txt
index 15e15aad1..30602e78b 100644
--- a/fuse_models/test/CMakeLists.txt
+++ b/fuse_models/test/CMakeLists.txt
@@ -5,9 +5,9 @@ set(TEST_TARGETS
   test_unicycle_2d_state_cost_function
   test_graph_ignition
   test_unicycle_2d_ignition
-  test_unicycle_3d
-  test_unicycle_3d_predict
-  test_unicycle_3d_state_cost_function
+  test_omnidirectional_3d
+  test_omnidirectional_3d_predict
+  test_omnidirectional_3d_state_cost_function
 )
 
 foreach(test_name ${TEST_TARGETS})
diff --git a/fuse_models/test/test_unicycle_3d.cpp b/fuse_models/test/test_omnidirectional_3d.cpp
similarity index 95%
rename from fuse_models/test/test_unicycle_3d.cpp
rename to fuse_models/test/test_omnidirectional_3d.cpp
index b8dfebfa9..f82bb75a2 100644
--- a/fuse_models/test/test_unicycle_3d.cpp
+++ b/fuse_models/test/test_omnidirectional_3d.cpp
@@ -6,7 +6,7 @@
 #include <gtest/gtest.h>
 
 #include <fuse_graphs/hash_graph.hpp>
-#include <fuse_models/unicycle_3d.hpp>
+#include <fuse_models/omnidirectional_3d.hpp>
 #include <fuse_variables/acceleration_linear_3d_stamped.hpp>
 #include <fuse_variables/orientation_3d_stamped.hpp>
 #include <fuse_variables/position_3d_stamped.hpp>
@@ -18,15 +18,15 @@
 /**
  * @brief Derived class used in unit tests to expose protected functions
  */
-class Unicycle3DModelTest : public fuse_models::Unicycle3D
+class Omnidirectional3DModelTest : public fuse_models::Omnidirectional3D
 {
 public:
-  using fuse_models::Unicycle3D::updateStateHistoryEstimates;
-  using fuse_models::Unicycle3D::StateHistoryElement;
-  using fuse_models::Unicycle3D::StateHistory;
+  using fuse_models::Omnidirectional3D::updateStateHistoryEstimates;
+  using fuse_models::Omnidirectional3D::StateHistoryElement;
+  using fuse_models::Omnidirectional3D::StateHistory;
 };
 
-TEST(Unicycle3D, UpdateStateHistoryEstimates)
+TEST(Omnidirectional3D, UpdateStateHistoryEstimates)
 {
   // Create some variables
   auto position1 = fuse_variables::Position3DStamped::make_shared(rclcpp::Time(1, 0));
@@ -155,10 +155,10 @@ TEST(Unicycle3D, UpdateStateHistoryEstimates)
   graph.addVariable(linear_acceleration4);
 
   // Add all of the variables to the state history
-  Unicycle3DModelTest::StateHistory state_history;
+  Omnidirectional3DModelTest::StateHistory state_history;
   state_history.emplace(
     position1->stamp(),
-    Unicycle3DModelTest::StateHistoryElement{  // NOLINT(whitespace/braces)
+    Omnidirectional3DModelTest::StateHistoryElement{  // NOLINT(whitespace/braces)
     position1->uuid(),
     orientation1->uuid(),
     linear_velocity1->uuid(),
@@ -171,7 +171,7 @@ TEST(Unicycle3D, UpdateStateHistoryEstimates)
     fuse_core::Vector3d(0.0, 0.0, 0.0)});    // NOLINT(whitespace/braces)
   state_history.emplace(
     position2->stamp(),
-    Unicycle3DModelTest::StateHistoryElement{  // NOLINT(whitespace/braces)
+    Omnidirectional3DModelTest::StateHistoryElement{  // NOLINT(whitespace/braces)
     position2->uuid(),
     orientation2->uuid(),
     linear_velocity2->uuid(),
@@ -184,7 +184,7 @@ TEST(Unicycle3D, UpdateStateHistoryEstimates)
     fuse_core::Vector3d(0.0, 0.0, 0.0)});    // NOLINT(whitespace/braces)
   state_history.emplace(
     position3->stamp(),
-    Unicycle3DModelTest::StateHistoryElement{  // NOLINT(whitespace/braces)
+    Omnidirectional3DModelTest::StateHistoryElement{  // NOLINT(whitespace/braces)
     position3->uuid(),
     orientation3->uuid(),
     linear_velocity3->uuid(),
@@ -197,7 +197,7 @@ TEST(Unicycle3D, UpdateStateHistoryEstimates)
     fuse_core::Vector3d(0.0, 0.0, 0.0)});    // NOLINT(whitespace/braces)
   state_history.emplace(
     position4->stamp(),
-    Unicycle3DModelTest::StateHistoryElement{  // NOLINT(whitespace/braces)
+    Omnidirectional3DModelTest::StateHistoryElement{  // NOLINT(whitespace/braces)
     position4->uuid(),
     orientation4->uuid(),
     linear_velocity4->uuid(),
@@ -210,7 +210,7 @@ TEST(Unicycle3D, UpdateStateHistoryEstimates)
     fuse_core::Vector3d(0.0, 0.0, 0.0)});    // NOLINT(whitespace/braces)
   state_history.emplace(
     position5->stamp(),
-    Unicycle3DModelTest::StateHistoryElement{  // NOLINT(whitespace/braces)
+    Omnidirectional3DModelTest::StateHistoryElement{  // NOLINT(whitespace/braces)
     position5->uuid(),
     orientation5->uuid(),
     linear_velocity5->uuid(),
@@ -223,7 +223,7 @@ TEST(Unicycle3D, UpdateStateHistoryEstimates)
     fuse_core::Vector3d(0.0, 0.0, 0.0)});    // NOLINT(whitespace/braces)
 
   // Update the state history
-  Unicycle3DModelTest::updateStateHistoryEstimates(
+  Omnidirectional3DModelTest::updateStateHistoryEstimates(
     graph, state_history, rclcpp::Duration::from_seconds(
       10.0));
 
diff --git a/fuse_models/test/test_unicycle_3d_predict.cpp b/fuse_models/test/test_omnidirectional_3d_predict.cpp
similarity index 99%
rename from fuse_models/test/test_unicycle_3d_predict.cpp
rename to fuse_models/test/test_omnidirectional_3d_predict.cpp
index 0b47a97c9..230c0b8cc 100644
--- a/fuse_models/test/test_unicycle_3d_predict.cpp
+++ b/fuse_models/test/test_omnidirectional_3d_predict.cpp
@@ -38,7 +38,7 @@
 #include <vector>
 
 #include <fuse_core/eigen_gtest.hpp>
-#include <fuse_models/unicycle_3d_predict.hpp>
+#include <fuse_models/omnidirectional_3d_predict.hpp>
 #include <ceres/jet.h>
 
 TEST(Predict, predictDirectVals)
diff --git a/fuse_models/test/test_unicycle_3d_state_cost_function.cpp b/fuse_models/test/test_omnidirectional_3d_state_cost_function.cpp
similarity index 93%
rename from fuse_models/test/test_unicycle_3d_state_cost_function.cpp
rename to fuse_models/test/test_omnidirectional_3d_state_cost_function.cpp
index c0ce74508..bea153f97 100644
--- a/fuse_models/test/test_unicycle_3d_state_cost_function.cpp
+++ b/fuse_models/test/test_omnidirectional_3d_state_cost_function.cpp
@@ -41,8 +41,8 @@
 
 #include <fuse_core/ceres_macros.hpp>
 #include <fuse_core/eigen_gtest.hpp>
-#include <fuse_models/unicycle_3d_state_cost_function.hpp>
-#include <fuse_models/unicycle_3d_state_cost_functor.hpp>
+#include <fuse_models/omnidirectional_3d_state_cost_function.hpp>
+#include <fuse_models/omnidirectional_3d_state_cost_functor.hpp>
 
 TEST(CostFunction, evaluateCostFunction)
 {
@@ -55,7 +55,7 @@ TEST(CostFunction, evaluateCostFunction)
   const double dt{0.1};
   const fuse_core::Matrix15d sqrt_information{covariance.inverse().llt().matrixU()};
 
-  const fuse_models::Unicycle3DStateCostFunction cost_function{dt, sqrt_information};
+  const fuse_models::Omnidirectional3DStateCostFunction cost_function{dt, sqrt_information};
 
   // Evaluate cost function
   const double position1[3] = {0.0, 0.0, 0.0};
@@ -120,8 +120,8 @@ TEST(CostFunction, evaluateCostFunction)
   //                  probe_results.error_log;
 
   // Create cost function using automatic differentiation on the cost functor
-  ceres::AutoDiffCostFunction<fuse_models::Unicycle3DStateCostFunctor, 15, 3, 4, 3, 3, 3, 3, 4, 3, 3,
-    3>cost_function_autodiff(new fuse_models::Unicycle3DStateCostFunctor(dt, sqrt_information));
+  ceres::AutoDiffCostFunction<fuse_models::Omnidirectional3DStateCostFunctor, 15, 3, 4, 3, 3, 3, 3, 4, 3, 3,
+    3>cost_function_autodiff(new fuse_models::Omnidirectional3DStateCostFunctor(dt, sqrt_information));
   // Evaluate cost function that uses automatic differentiation
   std::vector<fuse_core::MatrixXd> J_autodiff(num_parameter_blocks);
   std::vector<double *> jacobians_autodiff(num_parameter_blocks);