Here's how I was able to get the wonderful tool mtr to go through my firewall:
asa-gw(config)# class-map icmp-classasa-gw(config-cmap)# match default-inspection-trafficasa-gw(config-cmap)# exitasa-gw(config)# policy-map icmp_policyasa-gw(config-pmap)# class icmp-classasa-gw(config-pmap-c)# inspect icmpasa-gw(config-pmap-c)# exitasa-gw(config-pmap)# exitasa-gw(config)# service-policy icmp_policy interface outside