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I solved my problem by adding both machines' hostname to /etc/hosts. refer to https://husarion.com/tutorials/ros-tutorials/5-running-ros-on-multiple-machines/

Details:

You can use roswtf to see what's happening. For me I got this error on my client machine:

ERROR: Unknown host [robot-desktop] for node [***]

where "robot-desktop" is the hostname of the master machine. If this ERROR occurs, you need to add the hostname of both machines to /etc/hosts like this:

X.X.X.X master-hostname

X.X.X.X client-hostname

You can run hostname in terminal to see the hostname of the machine.