Base Roamio and Slingbox

I have a base Roamio (connected to an AVR receiver) and a couple of mini's. I currently get TV from OTA. I have some interest in pairing possibly a Slingbox 350, M1, or 500 with them. But, I didn't know if any of those couldn't connect to what I have. i want the HD quality when I stream. I also didn't know what cables I would need to make the connection. So, if anyone is willing to layout the options, I would greatly appreciate it.