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Regarding the command to run ssh, the user must exist on the remote machine, thus your second command is the correct one.
If you'd like to deepen your understanding of how ssh works, the top hits of a google search for ssh tutorial will come handy.
That said, I would also advise you to export the environment variable ROS_IP for each computer. For instance, for computer A: export ROS_IP=xxx.xxx.xxx.xxx (replacing the x's with computer A's IP address).
You may also find the following two links useful:
ROS/Tutorials/MultipleMachines
I hope it helps.
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