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The problem is the software. Will your processing software actually use the GPU on the Jetson? It won't unless it was specifically written to use the Jetson or the USB accelerator.

One very simple thing to try is to replace the Pi3 with a Pi4 that has perhaps 4GB RAM. That might give you a 2X speed bump. But it looks like perhaps you need a 10X bump? Then you need to adapt your software.

In general, ROS middleware is not going to do anything with a GPU.