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Depending on your hardware, serial is typically 115.2kbps to 1Mbps, and Ethernet is typically 100Mbps to 1Gbps (100x faster), so Ethernet is generally the faster and more flexible solution.

Since you'll be setting up a point-to-point ethernet link, you'll probably need to assign static IP addresses to both boards. This is well-documented for most linux distributions and is outside the scope of this forum.

Setting up ROS to communicate over a network is usually as simple as following http://wiki.ros.org/ROS/Tutorials/MultipleMachines