Steps to reproduce:

1) Open Unity and create a new project
2) In Hierarchy window, create a new empty GameObject
3) Create Canvas as a child of an empty GameObject
4) Change Canvas Render Mode to 'Screen Space - Camera' and add Main Camera in to Render Camera slot
5) Add Animator component for an empty GameObject
6) In Project window, click on r.mouse button >> Create >> Animator Controller
7) Attach created Animator Controller to the GameObject
8) Press Play
Error in the console will be thrown:
'Assertion failed on expression: '(changeMask & Transform::kReceivedDueToParentTRSChanged) == 0''

Expected result: No errors in the Console
Actual result: Error in the Console appears : 'Assertion failed on expression: '(changeMask & Transform::kReceivedDueToParentTRSChanged) == 0''

Reproduced with:
5.5.3p4, 5.5.4f1, 5.6.1p2, 2017.1.0b8, 2017.2.0a2

Not reproduced with:
5.4.5p3, 5.5.3p3

Regression since:
5.5.3p4

Note: Reproduces only when Render Mode of the Canvas is set to 'Screen Space - Camera'
Video of reproduction is attached( 'repro.mp4')

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Fixed in 2017.1.0f1, 5.6.2p1, 5.5.4p2 & 5.4.5p4