Just like the routers, any software firewalls on both sides will have to have rules set up to allow the necessary protocols on the appointed ports. I'm not familiar with ESET but I'm sure that they have a pretty good support forum.... IIRC, Wilders has a very good ESET community.

Rather than fretting about fixed IP's, think about using something like No-IP or DynDNS etc. However, I'm unsure about RDCP's ability to easily use these services which is why I suggested TeamViewer as a straightforward and IMO, far superior alternative. You don't even need to install it - In fact, you don't even need to be at your machine to use it!
There's a pretty good rundown (With screenshots) of TV's abilities and simplicity here.

Edited by Deadbeat (Wed 06-Apr-11 00:05:52)