Lifecycle features: add information about previous transition to "on_error" callback

Feature request

Feature description

The on_error callback parameter "State" is not useful to understand where the error has been raised. "Transition" indeed should be more useful.

Implementation considerations

Since "on_error" is called only when an unhandled exception is raised from a transition and when a transition returns an error value, it is important to know which transition was in error.
Knowing the previous State is not useful. For example from "inactive" State there are two possible transitions, "cleanup" and "activate", with the current implementation you cannot understand which of them raised the error.

ref: https://answers.ros.org/question/302073/ros2-managed-node-on_error/