You could try port forwarding. Go through the list of routers below, there's not a listing for WRT54G v6 but you can probably use instructions for one of the other WRT54G versions. Choose LW from the list of programs & then you'll find a step-by-step guide to setting up port forwarding. Make sure to set up a static IP address first
http://www.portforward.com/english/r...outerindex.htm

Also, just double check that your McAfee firewall is configured properly.

Note that the computer you're trying to direct connect to must'nt be firewalled either