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This is "by design" at the moment: there are apparently (quite) some nodes publishing unnormalised quaternions and RViz prints this warning whenever it receives one. This is a 'grace' or 'transition period', as now msgs with such quaternions will still be accepted and visualised by RViz, but in a future release they will be dropped.
See Fix released: rviz 1.12.14 not displaying markers etc with invalid quaternions on ROS Discourse for more information.
Seeing the name of the interactive marker, I believe this is one created by the MoveIt RViz plugin. See ros-planning/moveit#732 for a related MoveIt issue.
In short: this is not a problem you caused, and unless you fix the issue in MoveIt not something you can change.
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