We have a 1999 Osyssey LX and it did not come with a factory roof rack. We are quite thrilled to _not_ have a factory rack as they are rated for 100-150 lbs.
We bought a Yakima rack kit that bolts around the 2 sliding doors and has a key lock. It can be removed for better fuel economy during the 98% of the time it is not used.
Rated for 250 lbs., the bars are wide enough for a huge Yakima Space Case and a kayak or canoe. <www.yakims.com>
There was a bolt on Yakima option but it does not fit in the roof channel that Honda provides.
We also use a Yakima Terragate bike rack which fits the 2 inch Honda Trailer hitch. It swings out and away from the van, out to the passenger side. It does not swing up/down. Those bike racks require work and dirt to bring back into the upright position.