In this profile, the controller runs on a workstation attached to the same (usually wireless) network. This allows the use of more computationally-demanding controllers than the on-board computer can handle. Other than that the controller runs on a different computer (rather than the built-in Raspberry Pi) this profile is used in the same way as "on-board".
You can now control MiRo as follows.
The line with
ROS_MASTER_URI tells the ROS system where to find the ROS master that is running on your robot; you should replace the token
192.168.x.x with the network address of your robot recovered from MiRoapp.
As above, you will see the robot swing its head from side to side, and you can use the client as a starting point for your own development.
 This assumes you have not changed the default ROS network configuration for your robot.