diff --git a/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp
index caf9d5339..b5560decb 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp
@@ -87,8 +87,29 @@ namespace ros2 {
     return true;
   }
 
+  static bool CompareDouble(double value, double cmp_value) {
+    const double result = abs(value) - abs(cmp_value);
+    if (result < 0.001)
+        return true;
+    return false;
+  }
+
   bool CarlaTransformPublisher::Publish() {
     eprosima::fastrtps::rtps::InstanceHandle_t instance_handle;
+
+    const double qx = _impl->_transform.transforms()[0].transform().rotation().x();
+    const double qy = _impl->_transform.transforms()[0].transform().rotation().y();
+    const double qz = _impl->_transform.transforms()[0].transform().rotation().z();
+    const double qw = _impl->_transform.transforms()[0].transform().rotation().w();
+
+    bool q1 = CompareDouble(qx, 0.0);
+    bool q2 = CompareDouble(qy, 0.0);
+    bool q3 = CompareDouble(qz, 0.0);
+    bool q4 = CompareDouble(qw, 0.0);
+
+    if (q1 && q2 && q3 && q4)
+        _impl->_transform.transforms()[0].transform().rotation().w(1.0);
+
     eprosima::fastrtps::types::ReturnCode_t rcode = _impl->_datawriter->write(&_impl->_transform, instance_handle);
     if (rcode == erc::ReturnCodeValue::RETCODE_OK) {
         return true;