Is your CentOS box sitting behind a home router eg. Netgear, Linksys, etc? If so, have you opened a hole in its firewall that will allow an incoming tcp connection for port 22? You will also need to make sure it also forwards such an incoming connection to the IP address that it has given to your CentOS box (so that the ssh TCP/IP packets will 'flow through' your home router to get to your CentOS box).
Also, you don't need to disable the firewall on your CentOS box. Go to System > Administration > Security Level and Firewall. Then, on the "Firewall Options" tab in the "Trusted Services" area, check the box next to "SSH" and then click the "Apply" button. Finally, make sure the "Firewall:" drop down box is on "Enabled" (change and click the "Apply" button again if necessary). Doing all of this will ensure your firewall only allows incoming ssh connections on port 22.
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