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The best way to find out is to try it and see.
You should be able to get some idea of how well it may work by looking at the current CPU usage on the robot and the desktop; if the robot is mostly idle (<25%), it's definitely worth a try. If the robot is already pretty busy (>50%), I probably wouldn't bother.
When you're running everything on the robot, be sure to watch the CPU usage and ROS console carefully; the navigation stack behaves pretty poorly if it doesn't get enough CPU time. You'll see lots of messages about various internal loops running too slowly if this is the case. Reducing the control loop frequencies and the costmap sizes or resolutions should help with this.
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