I've just successfully tried the following. I've built JBoss AS 6.0.0.Final from sources (but I believe you can use the distribution if you want)
Then I built JBossWS Native 3.4.1.SP1 from sources using Apache Maven 2.2.1: ant -Djboss601.home=/dati/jboss-6.0.0/build/target/jboss-6.0.0.Final deploy-jboss601 please note 601 because at the time of developing 3.4.1.SP1 the 600 target was for JBoss AS 6.0.0.CR1, as you can see from the profiles.xml.example.
The server is booting fine, no exception.