Octomap binary map service slow, temporary disable Kinect? [closed]

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My own node loads an octomap from the Octomap server. In my own node I preform raycasting on the map to find unknown area's.

The problem is however that it takes very long to get a binary octomap through the service call. It seems that the continuous data flow from the Kinect slows the octomap server down. Is somehow possible to temporary stop the point cloud from the Kinect?

Using a node that pipes the stream would this be possible but it is kind of hackish.

Is there also a difference between the /octomap_full and /octomap_binairy services?