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I know this is very old but I just had a similar struggle with the setup myself (on melodic) and thought I would share my problem and solution. On my master I had ROS_MASTER_URI=http://localhost:11311 and on my remote I used ROS_MASTER_URI=http:/ctrl-pc:11311. This is fine for normal operation but if you use roslaunch with machine to run nodes on your remote device it will overwrite ROS_MASTER_URI on your remote pc with the one set on your master (the one you execute your launch file from), which ends up to be localhost, thus roslaunch will start a new roscore. Using export ROS_MASTER_URI=http:/ctrl-pc:11311 on both machines solved the problem. Tl;dr: do not use localhost in ROS_MASTER_URI.