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Here's a ROS tutorial for multiple machines for getting started. I recommend taking a look at the rest of them, too. Basically, once you have ROS on both machines and the network is configured so they can communicate, you just need to run each node on the machine you choose. If you use a launch file, you can assign nodes to different machines using the machine tag.

In your case, each of your scripts starts a node on the robot. To do the calculations on your PC, you just have to run that node (script) on your PC instead. Since each node defines ROS subscribers and publishers, ROS will handle the topic connection and communication.