you can connect to your tivo via a browser
the username is 'tivo' and the password is your media access key. you can then click on the link to download the show you want.
it will have the .TiVo extension and be encrypted. i am not sure what you could use to try to remove that.
i have a lone windows system that I use with the tivo2go software to watch/burn shows. that is its sole purpose. i havent had the time to research a way to watch the .TiVo recordings in linux without first going through that Windows step and using the tivo recommended dvd burning application.
when i finally get around to it, if i find anything i'll be sure to post it
hope this helps
[EDIT: cleaned up url