ARD not recognizing client computers

Hello, I recently purchased ARD 2.2 and have been trying to observe and control my friends powerbook G4 and my dads ibook G4. They both turned on the ARD client in the Sharing pane in system preferences and checked their username and all the neccessary options in the access privileges window, but when I type in their ip addresses (that were found in the Network system preferences pane) ARD comes up with a dimmed gray computer icon and shows no information about those computers (except for the ip address that I entered). When I enter their correct username and password, ARD says that the verification failed. Although, when my friend with the Powerbook G4 came over to my house, and used the same internet as me, I could easily control and observe his computer, after entering his username and password, using the local network scanner.
Could Someone Please Help Me?
William Dunn

William has posted what will probably be the best compendium of information, though of course the manual that came (or should have come ) with the Linksys will also be of help.
Note that you have to have those ports open on both ends, your Internet connection and at your friend's and your dad's, if (as would seem likely) the systems you're trying to connect are in different locations from yours.

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