Clarifications in documentation

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

system_modes/README.md

@@ -123,7 +123,7 @@ $ `ros2 launch system_modes mode_monitor.launch.py modelfile:=[path/to/modelfile
 
 ### Error Handling and Rules
 
-If the _actual_ state/mode of the system or any of its parts diverges from the _target_ state/mode, we define rules that try to bring the system back to its _target_ state/mode. Rules work in a bottom-up manner, i.e. starting from correcting nodes before sub-systems before systems. Rules are basically defined in the following way:
+If the _actual_ state/mode of the system or any of its parts diverges from the _target_ state/mode, we define rules that try to bring the system back to a valid _target_ state/mode, e.g., a degraded mode. Rules work in a bottom-up manner, i.e. starting from correcting nodes before sub-systems before systems. Rules are basically defined in the following way:
 
 ```pseudo
 if:
@@ -133,7 +133,7 @@ then:
 ```
 
 if _actual_ state/mode and _target_ state/mode diverge, but there is no rule for this exact situation, the bottom-up rules will just try to return the system/part to its _target_ state/mode.
-TODO: dangerous: what's happening, if the system is already on its way. E.g., a system or part was just commanded to transition to _ACTIVE.foo_, but is currently _activating_ (so doing everything right). In this case we have to avoid that the bottom-up rules will trigger.
+*Potentiall dangereous, to be discussed:* what's happening, if the system is already on its way. E.g., a system or part was just commanded to transition to _ACTIVE.foo_, but is currently _activating_ (so doing everything right). In this case we have to avoid that the bottom-up rules will trigger.
 
 ## How to Apply