Can I use GPU acceleration?

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Hello,

When I started developing robots, I bought a Jetson Xavier NX, partly because I wanted a small computer. First of all, Lidar SLAM was easier to get used to, so now I am using 2D maps such as gmapping to make the robot run autonomously.

I was wondering if there was any way to utilize the GPU. I found out that Visual SLAM algorithms are being worked on to benefit from GPU acceleration. My personal feeling is that costmap processing, for example, can be accelerated by parallel computing. However, I could not find any such package, including SLAM for 3D LiDAR.

Is there any reason not to use the GPU?
Thanks in advance.