Inspect ICMP (Cisco)

To allow devices behind a Cisco ASA/Pix firewall to ping the outside world do the following:

config term
policy-map global_policy
class inspection_default
inspect icmp

Reference

http://www.cisco.com/en/US/products/hw/vpndevc/ps2030/products_tech_note09186a0080094e8a.shtml#topic0

http://www.youtube.com/watch?v=BBKt6jI4OyM&feature=related
Youtube video describing how to accomplish the above settings through ASDM