Gauge dependence of gravitational waves generated at second order from scalar perturbations

We revisit and clarify the gauge dependence of gravitational waves generated at second order from scalar perturbations. In a universe dominated by a perfect fluid with a constant equation-of-state parameter w, we compute the energy density of such induced gravitational waves in the Newtonian, comoving, and uniform curvature gauges. Huge differences are found between the Newtonian and comoving gauge results for any w(>= 0). This is always caused by the perturbation of the shift vector. Interestingly, the Newtonian and uniform curvature gauge calculations give the same energy density for w > 0. In the case of w = 0, the uniform curvature gauge result differs only by a factor from that of the comoving gauge, but it deviates significantly from that of the Newtonian gauge. Our calculation is done analytically for w = 0 and w = 1/3, and our result is consistent with the previous numerical one.