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There are two ways to do this:

Using the internal PC

As cyborg-x1 already hinted, you can also use ROS with multiple nodes over a network.

Start up the youbot as usual:
- start up power supply
- start up internal pc
- start up arm/motors
Connect network cable or wireless adapter, configure as appropriate or your environment.
On the youbot:
- find out your IP adress (via GUI or simply $ sudo ifconfig), e.g. YOUBOT_IP=123.456.789.123
- set ROS_MASTER_URI: export ROS_MASTER_URI=http://123.456.789.123:11311
- set ROS_IP: export ROS_IP=123.456.789.123
On the laptop/PC:
- find out your IP adress, e.g. LAPTOP_IP=789.456.123.789
- set ROS_MASTER_URI: export ROS_MASTER_URI=http://123.456.789.123:11311
- set ROS_IP: export ROS_IP=123.456.789.123
As you need to do the exports for every shell that you start, you might want to put those lines into your .bashrc or somewhere else that will be loaded.
Now go back to the youbot and start the driver as usual.
Now everything should be ready. When you start nodes on the youbot they will work. When you start nodes on the Laptop/PC they will also work and communicate over your network.

(Have not done this myself, as we wanted the youbot to work with a wireless adapter, so no knowledge on mileage.)