I still haven't decided what firewall, if any, to use. Yeah, I know, I should have one, but I don't. I think there are pretty much 2 choices with FreeBSD - ipfw (explained in the FreeBSD docs) and ipfilter. Here's a good link to get you started if you go down the ipfw road:
ipfw-HOWTO
Both have their advantages: so why not use both at a time. For pure stateful packet-filtering I like ipfilter very much. For other issues like traffic shaping ipfw and dummynet do a good job. I stick with both and don't have any problems using them in the way mentioned above. (ipfw policy is just "open" and doing the bandwidth stuff)
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