how can i list categories in the automatically generated store menu?

the store menu is generated automatically, and contains 'Products', 'Shopping Cart' and 'Order Status'. i can add other menu items by adding them under Appearance->Menu. but i would need to do this manually for every category.

i am wondering if there is a way to get the plugin to automatically list the product categories in the menu - so that when a new category is created, it doesn't have to added manually? i would only want to list those categories that actually contained products (i.e. skip those with zero products).

is this possible?