ABS and Track Light

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I'm having an issue with my 2001 PT Crusier: just after having my vehicle cleaned when I drove away a clicking type of noise could be heard- a blue track light started blinking over the odometer, the noise stopped, then the Track Off light came on and a few minutes later the ABS light came on. A few minutes after both lights had come on they went off. When I stopped and started again the noise and lights started the whole cycle again. The next day before I started driving I turned on the Track Off button. A short distance of driving and the ABS light came back on, repeating the the cycle of noise and lights. I've looked at the brakes and the pads and rotors look good. What is the problem? HELP