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Thank you all for your answers. It is working fine by setting ROS_HOSTNAME and running nodes in root mode. However it is slow, ! image per 2 seconds. I used roswtf on both machines, I don't have any error but I have some interesting warnings on computer B :

WARNING Communication with master is very slow (>0.5s average) WARNING Communication with node [/openni_camera] is very slow

I already checked the wiki and didn't see anything related to speed problems. I checked the networksetup page and everything is working fine, I can ping and netscan between the two computers.

I will try by setting a direct network between the two computers instead of going trough my router.