If the foamy urine only happens once in awhile and not all the time then having foamy urine sometimes is normal and nothing to worry about.
But if the foamy urine continues and doesn't clear up within a few days or happens too often then no that's not normal and you should see the doctor to get a urine test done.
Foamy urine is one of the indicators of protein in your urine which is not normal.
Too much foamy urine which is caused by protein in your urine can be an indicator that your kidney's are not working properly because the kidneys shouldn't allow any protein to pass through to your urine.