Federal rules preempt the HOA rules.
http://www.fcc.gov/guides/over-air-r...n-devices-rule In essence, you have a protected right to use an antenna to receive OTA television signals.
In your case, a small antenna should be able to get the job done well. Consider an RCA ANT-751 pointed south, (166° per a compass). You should be able to connect as many as four sets without needing an amplifier.
http://www.amazon.com/RCA-ANT751R-Ou...words=ANT-751r The ANT-751 can be mounted in a variety of locations... roof, wall, attic. An outdoor location with a clear view south is best.
A J-pole is often used.
http://www.amazon.com/Antennas-Direc...eywords=J-pole This can mount on the roof or a wall.