diff --git a/rcl_action/src/rcl_action/goal_handle.c b/rcl_action/src/rcl_action/goal_handle.c
index 903b272..5add061 100644
--- a/rcl_action/src/rcl_action/goal_handle.c
+++ b/rcl_action/src/rcl_action/goal_handle.c
@@ -88,6 +88,10 @@ rcl_action_update_goal_state(
   rcl_action_goal_state_t new_state = rcl_action_transition_goal_state(
     goal_handle->impl->state, goal_event);
   if (GOAL_STATE_UNKNOWN == new_state) {
+    RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
+      "goal_handle attempted invalid transition from state %d with event %d",
+      goal_handle->impl->state,
+      goal_event);
     return RCL_RET_ACTION_GOAL_EVENT_INVALID;
   }
   goal_handle->impl->state = new_state;