@tom It's working just fine 
There were a few issues:
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when using WSL we need to start the server on windows via powershell and the first time will ask to set up the security access, just give access on both networks, this is used by wsl to give access to ubuntu client.
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On linux, if we install the adb via apt install, the adb version will be older and the connection with the server will not work. Should install it via platform-tools provided by Android studio.
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The cable. Using a micro-usb cable to connect the voxl-cam doesn't work every time, is recommended to use a usb 3 data cable to connect via this usb port.
Once we follow all these, is working fine in all the environments : windows, wsl / ubuntu 20, and mac os
Thanks for your help!