I have had this issue for the last 3 weeks now, basically got in my car one warning to be greeted by the ABS/ESP/SERV lights. Disconnected the battery to reset the ECU, but didn't help.
Eventually took it into renault yesterday, guy said he plugged laptop in and took it for a drive. The fault being reported was that the NS/R ABS sensor is defective and is reporting that the wheel isn't turning (when of course it is) which basically breaks the ABS/ESP system.
The remedy is to pay for a new ABS sensor which takes less than an hour, but will cost £180 with vat and fitting!
Basically im going to just leave it and drive somewhat more carefully in ice/snow. Not keen on paying £180 on that 6 weeks before christmas.
Makes me laugh though as it was working just fine, then got in my car two hours later and suddenly its broken...Joy.
If your light is going on/off though it maybe a buildup of salt/mud on the sensor itself - so take a jetwash to the wheels and see if you can clean them up.