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As the NetworkSetup wiki page says, if you're behind a firewall, the best solution is to use a VPN. OpenVPN's HOWTO page should help get you started.

If the firewall is provided by something like a home router, you could also set the DMZ host to the IP address of the computer you want to be able to access.

Since ROS uses lots of arbitrary ports, ssh tunneling is not a realistic solution.

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