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I was trying out some few things and I found out the problem is resolved if I replace my dynamic tf publisher with a static one, like this :

<node pkg="tf" type="static_transform_publisher" name="head_to_kinect_normal_axis" args="-0.03 0.055 0.12 0 0 -0.4 head_frame kinect_normal_axis_frame 20" />

But I really need it to be dynamic ... so this is where my answer ends and a new question arises. The dynamic publishing is done through a tf::TransformBroadcaster. I don't initialize it and I use it like this :

mKinectTFBroadcaster.sendTransform(tf::StampedTransform(mKinectTF, ros::Time::now(), "head_frame", "kinect_normal_axis_frame"));

And as can be seen in the picture of my original question, this does indeed get published. I have no idea what seems to be the problem.