I had similar issues with the warning lights and the error message.
I'd suggest taking out the ABS speed sensors and giving them a good clean (there is a guide somewhere that I found very useful). That should clear the fault.
Just to warn you, I attempted to take mine out, however, they wouldn't budge and in the end they broke. I had to buy replacements from TPS, but once fitted, the lights disappeared completely.
Good luck and let us know how you get on.