diff --git a/nav2_amcl/include/nav2_amcl/amcl_node.hpp b/nav2_amcl/include/nav2_amcl/amcl_node.hpp
index be7cf77d8ca..562af9f128b 100644
--- a/nav2_amcl/include/nav2_amcl/amcl_node.hpp
+++ b/nav2_amcl/include/nav2_amcl/amcl_node.hpp
@@ -66,7 +66,6 @@ class AmclNode : public nav2_util::LifecycleNode
   nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   // Since the sensor data from gazebo or the robot is not lifecycle enabled, we won't
   // respond until we're in the active state
diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index e4e4c37e9f1..d31adf34718 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -389,13 +389,6 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-AmclNode::on_error(const rclcpp_lifecycle::State & /*state*/)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 AmclNode::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
 {
diff --git a/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp b/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
index 76e63c7d5da..5c87558a2ed 100644
--- a/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
+++ b/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
@@ -82,11 +82,6 @@ class BtNavigator : public nav2_util::LifecycleNode
    * @return SUCCESS or FAILURE
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  /**
-   * @brief Called when in error state
-   * @param state Reference to LifeCycle node state
-   */
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   using Action = nav2_msgs::action::NavigateToPose;
 
diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
index 69bee0ff5f5..eb151d8a212 100644
--- a/nav2_bt_navigator/src/bt_navigator.cpp
+++ b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -222,13 +222,6 @@ BtNavigator::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-BtNavigator::on_error(const rclcpp_lifecycle::State & /*state*/)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 BtNavigator::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
 {
diff --git a/nav2_controller/include/nav2_controller/nav2_controller.hpp b/nav2_controller/include/nav2_controller/nav2_controller.hpp
index 3d4e7be277e..3180b2c1440 100644
--- a/nav2_controller/include/nav2_controller/nav2_controller.hpp
+++ b/nav2_controller/include/nav2_controller/nav2_controller.hpp
@@ -102,12 +102,6 @@ class ControllerServer : public nav2_util::LifecycleNode
    * @return Success or Failure
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  /**
-   * @brief Called when in Error state
-   * @param state LifeCycle Node's state
-   * @return Success or Failure
-   */
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   using Action = nav2_msgs::action::FollowPath;
   using ActionServer = nav2_util::SimpleActionServer<Action>;
diff --git a/nav2_controller/src/nav2_controller.cpp b/nav2_controller/src/nav2_controller.cpp
index 6527b71e829..ffad06c55d9 100644
--- a/nav2_controller/src/nav2_controller.cpp
+++ b/nav2_controller/src/nav2_controller.cpp
@@ -228,13 +228,6 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-ControllerServer::on_error(const rclcpp_lifecycle::State &)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 ControllerServer::on_shutdown(const rclcpp_lifecycle::State &)
 {
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
index 5524f5737d3..541a246a513 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -97,7 +97,6 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief  Subscribes to sensor topics if necessary and starts costmap
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 75c7552628b..21374d28e2b 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -274,13 +274,6 @@ Costmap2DROS::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-Costmap2DROS::on_error(const rclcpp_lifecycle::State &)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 Costmap2DROS::on_shutdown(const rclcpp_lifecycle::State &)
 {
diff --git a/nav2_map_server/include/nav2_map_server/map_saver.hpp b/nav2_map_server/include/nav2_map_server/map_saver.hpp
index ef3b7849603..9c9b57d2928 100644
--- a/nav2_map_server/include/nav2_map_server/map_saver.hpp
+++ b/nav2_map_server/include/nav2_map_server/map_saver.hpp
@@ -86,12 +86,6 @@ class MapSaver : public nav2_util::LifecycleNode
    * @return Success or Failure
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  /**
-   * @brief Called when Error is raised
-   * @param state Lifecycle Node's state
-   * @return Success or Failure
-   */
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief Map saving service callback
diff --git a/nav2_map_server/include/nav2_map_server/map_server.hpp b/nav2_map_server/include/nav2_map_server/map_server.hpp
index d3ace49e90a..700b1753ea2 100644
--- a/nav2_map_server/include/nav2_map_server/map_server.hpp
+++ b/nav2_map_server/include/nav2_map_server/map_server.hpp
@@ -77,12 +77,6 @@ class MapServer : public nav2_util::LifecycleNode
    * @return Success or Failure
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  /**
-   * @brief Called when Error is raised
-   * @param state Lifecycle Node's state
-   * @return Success or Failure
-   */
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief Load the map YAML, image from map file name and
diff --git a/nav2_map_server/src/map_saver/map_saver.cpp b/nav2_map_server/src/map_saver/map_saver.cpp
index 34107978afe..8d23ad8233e 100644
--- a/nav2_map_server/src/map_saver/map_saver.cpp
+++ b/nav2_map_server/src/map_saver/map_saver.cpp
@@ -95,13 +95,6 @@ MapSaver::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-MapSaver::on_error(const rclcpp_lifecycle::State & /*state*/)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 MapSaver::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
 {
diff --git a/nav2_map_server/src/map_server/map_server.cpp b/nav2_map_server/src/map_server/map_server.cpp
index 490049e4b9e..2e2e9453ab2 100644
--- a/nav2_map_server/src/map_server/map_server.cpp
+++ b/nav2_map_server/src/map_server/map_server.cpp
@@ -160,13 +160,6 @@ MapServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-MapServer::on_error(const rclcpp_lifecycle::State & /*state*/)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 MapServer::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
 {
diff --git a/nav2_planner/include/nav2_planner/planner_server.hpp b/nav2_planner/include/nav2_planner/planner_server.hpp
index 3e67e6d089e..c1043ed0945 100644
--- a/nav2_planner/include/nav2_planner/planner_server.hpp
+++ b/nav2_planner/include/nav2_planner/planner_server.hpp
@@ -89,12 +89,6 @@ class PlannerServer : public nav2_util::LifecycleNode
    * @return SUCCESS or FAILURE
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  /**
-   * @brief Called when in error state
-   * @param state Reference to LifeCycle node state
-   * @return SUCCESS or FAILURE
-   */
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   using ActionServer = nav2_util::SimpleActionServer<nav2_msgs::action::ComputePathToPose>;
 
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index 6e42c131b79..fc8b4ab9b61 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -197,13 +197,6 @@ PlannerServer::on_cleanup(const rclcpp_lifecycle::State & state)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-PlannerServer::on_error(const rclcpp_lifecycle::State &)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 PlannerServer::on_shutdown(const rclcpp_lifecycle::State &)
 {
diff --git a/nav2_recoveries/include/nav2_recoveries/recovery_server.hpp b/nav2_recoveries/include/nav2_recoveries/recovery_server.hpp
index 1c02fc1f598..bb9efa571c1 100644
--- a/nav2_recoveries/include/nav2_recoveries/recovery_server.hpp
+++ b/nav2_recoveries/include/nav2_recoveries/recovery_server.hpp
@@ -46,7 +46,6 @@ class RecoveryServer : public nav2_util::LifecycleNode
   nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   std::shared_ptr<tf2_ros::Buffer> tf_;
   std::shared_ptr<tf2_ros::TransformListener> transform_listener_;
diff --git a/nav2_recoveries/src/recovery_server.cpp b/nav2_recoveries/src/recovery_server.cpp
index 8fab3b6e18e..3f108edb438 100644
--- a/nav2_recoveries/src/recovery_server.cpp
+++ b/nav2_recoveries/src/recovery_server.cpp
@@ -169,13 +169,6 @@ RecoveryServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-RecoveryServer::on_error(const rclcpp_lifecycle::State & /*state*/)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 RecoveryServer::on_shutdown(const rclcpp_lifecycle::State &)
 {
diff --git a/nav2_util/include/nav2_util/lifecycle_node.hpp b/nav2_util/include/nav2_util/lifecycle_node.hpp
index cb48feeab6c..9180133817f 100644
--- a/nav2_util/include/nav2_util/lifecycle_node.hpp
+++ b/nav2_util/include/nav2_util/lifecycle_node.hpp
@@ -123,6 +123,14 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
       rclcpp_lifecycle::LifecycleNode::shared_from_this());
   }
 
+  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & /*state*/)
+  {
+    RCLCPP_FATAL(
+      get_logger(),
+      "Lifecycle node %s does not have error state implemented", get_name());
+    return nav2_util::CallbackReturn::SUCCESS;
+  }
+
   // bond connection to lifecycle manager
   void createBond();
   void destroyBond();
diff --git a/nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp b/nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp
index 98d85f932b2..b24147fb9b8 100644
--- a/nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp
+++ b/nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp
@@ -92,11 +92,6 @@ class WaypointFollower : public nav2_util::LifecycleNode
    * @return SUCCESS or FAILURE
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  /**
-   * @brief Called when in error state
-   * @param state Reference to LifeCycle node state
-   */
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief Action server callbacks
diff --git a/nav2_waypoint_follower/src/waypoint_follower.cpp b/nav2_waypoint_follower/src/waypoint_follower.cpp
index 69407589253..d216c82b47a 100644
--- a/nav2_waypoint_follower/src/waypoint_follower.cpp
+++ b/nav2_waypoint_follower/src/waypoint_follower.cpp
@@ -101,13 +101,6 @@ WaypointFollower::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-WaypointFollower::on_error(const rclcpp_lifecycle::State & /*state*/)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 WaypointFollower::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
 {