ROS2 Managed node: triggering an error from primary state

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I have a managed node with a thread running when it is in `ACTIVE ' state.

During the execution of the thread an error can occur and I have not understood how to trigger an error event to enter into the on_error callback, manage the error and going back to `UNCONFIGURED ' state if the error can be solved.

on_error callback is executed when a transition callback returns TRANSITION_CALLBACK_ERROR or an unhandled exception is generated... but when the node is in a Primary state?

Thank you Walter