Using the knot filtration on the Heegaard Floer chain complex, Ozsváth and Szabó defined an invariant of knots in the three sphere called τ(K) and showed that it is a lower bound for the 4-ball genus. Generalizing their construction, I will show that for a (not necessarily null-homologous) knot, K, in a rational homology sphere, Y, we obtain a collection of τ-invariants, one for each spin-c structure on Y.  In addition, these invariants can be used to obtain a lower bound on the genus of a surface with boundary K properly embedded in a negative definite 4-manifold with boundary Y.