I'd strongly recommend the MotoGP system from Chris. It's beautifully made, easy to access you filter (yes, you have to remove the header but it's attached via springs at the exhaust flange and underneath to tailpipe). I'm pretty sure Carpys system also requires removal, but it's bolted.
MotoGP system is fully stainless steel so it's better than the Mac or Carpys. Costs more too, but well worth it. You will need to re-jet with a 4:1 by most accounts. You can search YouTube for "cb550 MotoGP" and find posters running their bike to check out the sound. The baffle is very easily removed with a screw.
I had mine fully ceramic coated professionally inside and out. Highest recommendations on that system.