You will almost always get some gains from proper jetting or fuel mapping (FI bikes)...
The question comes down to the cost, and whether more precise mapping or jetting is worth that cost to you. If you've added an aftermarket exhaust, filters, etc, you are going to see gains in the powerband by optimizing your air-fuel mixture, although with a bolt-on can likely not HUGE gains. However, it's not unusual to gain 1 or 2 horsepower on top and solve any lower-rpm roughness by rejetting or remapping after installing even just slip-ons or bolt-ons, and you may find that this gain, along with better throttle response (crisper everywhere) is well worth the cost of installing a jet kit or power commander unit.
However, if you're tight for cash, only you can decide if it's worth it. The money could definitely find a good home in upgrading riding gear, etc, if the bike isn't running too rough. Full exhausts will almost always basically REQUIRE a remap for decent performance.