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Assuming you have your network configured properly (following this : http://wiki.ros.org/ROS/NetworkSetup). you should be able to echo any topic from a terminal in your PC while Hector SLAM is running on the Raspberri Pi, without having to ssh. If that works, then any ROS node running on your PC will also be able to subscribe / publish to the ROS topics.
As for your main question, I'm not clear about what 'coordinate data' is. Hector SLAM map data is available on map_metadata topic. The actual occupancy grid map is published on map topic. The robot poses are published with and without covariances to poseupdate and slam_out_pose. Be mindful that these topic names can be under a namespace. More info : http://wiki.ros.org/hector_mapping
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