Publishing full map only when it is updated

[generush]

Hello,

I just got ufomap up and running. So far, I am impressed by the speedup relative to OctoMap. I would like to know if there is a parameter set that will allow me to never publish map-updates, and only to publish the full map at the instant it is done being built. Currently I have have only the full map publishing, but it seems to be publishing at the fixed interval that I specify, and I would like to to publish whenever it is done being updated.

The reason is because I want to monitor the latency of the message publishing. If the publishing rate is forced to be consistent, it is masking latency in the actual map update process, since it is publishing duplicate maps (with no new information) which is not useful to me.

Thanks for any and all ideas!