Yes, it seems to be the sanctioned approach.
We had a recent discussion on error routing here in this thread:
I tried in the past to define some error routing handling in the past, but wasn't totally successful.
Furthermore, when trying to route the errors I could at least catch, I couldn't always forward and/or redirect to groovlets or templates, for some reason -- but I don't recall exactly the problems I was having back then.
It seems Google advises to use the standard web.xml error page definitions:
While we're at it... something to consider is to point at static web pages for your error pages (like 404), as if there's some system error or something along the lines, you may be able to view the static pages, whereas your Gaelyk app may not be running.