i got the rear rotor disc replaced and even the pads as the were due to be changed. The ABS and warning indicator comes and stays on and after that the brakes work well with no noises nor any sensations from the brake pedal.
When switching the car off and back on, the ABS system is reset and the procedure duplicates itself which I read the manual that explained the procedure of the ABS system will re-adjust after replacing parts, but this dose not appear to be settling itself.