diff --git a/src/SafetyZoneMonitor.h b/src/SafetyZoneMonitor.h
index 85ff823d663aac1bb9d45fc0c8dfda1aefe1e57e..37315213945e767176af3c17d38914aa867d0ca8 100644
--- a/src/SafetyZoneMonitor.h
+++ b/src/SafetyZoneMonitor.h
@@ -59,7 +59,7 @@ public:
         for (auto zone : zones) {
           if (zone.contains(msg.pose.at(link_number).position)) {
             // the point is contained in the zone, so we can stop checking and send an according message
-            if (!res || !initialized) {
+            if ((counter%100==1) || !res || !initialized) {
               initialized = true;
               res = true;
               panda_mqtt_connector::StampedInZone result;
@@ -74,7 +74,7 @@ public:
       }
     }
     // no part of the robot is in a zone
-    if (res || !initialized) {
+    if ((counter%100==1) || res || !initialized) {
       ROS_INFO_STREAM("left zone in run " << counter);
       initialized = true;
       res = false;