I always do a "write erase" ..... makes sure in your config there isnt an entry that says SERVICE CONFIG .... if so type no service config in config mode. Make sure you wr mem and then reboot.
If its a cisco PIX firewall ICMP is not permitted back through the firewall unless it is configured to do so. By default you can ping the interface that you are connected to. IE someone outside the company can ping your outside interface, and you internally should be able to ping the inside...
The answer is, that it really depends. If you have one subnet behind the pix than NO you dont need a router. If you have more than one subnet YES you need one.
Depending on the type of router you could forward port 80 traffic to that webcam. So say that your domain is mydomain.com , you would access the cam as mydomain.com:80
MSN doesnt use a specific port, it like other instant messengers are almost trojan like. It has the ability to use port 80 if none of the other ports are open. If you run a recent version of IOS you can impliment NBAR. Just do a search on cisco on NBAR for configuration docs
In addition you need
access-list IpsecVpn line 3 permit ip 10.3.0.0 255.255.0.0 10.2.0.0 255.255.0.0
If that doesnt work you can paste both configs and I can sort it out for you.
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