I can tell you that everyone saying that you do not need a powercommander, or to adjust your fueling is some way has one thing in common: they have NOT spent any time on a dyno, and are not qualified to make recommendations or baseless opinions in this area. You have changed the exhaust on a bike that is already lean, right from the factory. GMbusa is spot on.
Do you need to map this bike? Only if you want it to run right. Will you hurt the motor if you don't? No. There are plenty of riders putting lots of miles on unmapped bikes, and bikes with incorrect maps going down the road. Out of curiosity, POWERHOUSE put a powercommander on a bone stock busa and took it to the dyno for mapping. I found this bike's afr screwed up throughout, built a custom map and took this particular Gen 1 from 160 to 168 rwhp SAE. It told us a lot about stock mapping, and the differences between bikes.
The fact that you are going for the Voodoos tells me that you are more about the look and the noise than you are about smooth throttle response and good power throughout, anyway.