Hi @marcelo_miller, welcome to the forum 
Their Technical Data says the camera outputs a H264 encoded stream, so it should work by default as a replacement camera with the Blue Robotics companion computer software (just plug in and it streams to QGC). ArduSub itself is unrelated here - our camera streaming functionality is handled by the Raspberry Pi companion computer which streams the video directly to the top side. ArduSub is the firmware that runs on the Pixhawk autopilot board.
Note that at the moment we don’t have built in support for multiple simultaneous camera streams, and QGC also doesn’t support that. With a bit of work it’s possible to set up additional camera streams, which can then be displayed with something like OBS, VLC, or directly with gstreamer