2004 canyon abs lights stays on and Tgetting a grinding and a polsation from the brake peddal.I have replace both front brake sensors.the scaner does not give a code.HELP

id check your caliper to see if the piston is compressing all the way if not check your fluid it should be clean not brown or if you have been through large amounts of water if it has gotten into the brake system and check your bleeder valve to check if it has rotted or come lose or if you have a break in the lines or air, most likely your caliper is failing to compress.

Most common problems are front wheel bearings they are integral to the wheel speed sensors for ABS system. I'd get it scanned to see which side is faulty.

there is a abs sensor out some where have it scaned to c wicth one then replace bad clear the codes and its off.goodluck

Since you indicate a rubbing noise and not a grinding noise when turning left ... check that all the plastic wheel well liner pieces are in the correct place ...including any access doors (if there are any).
It is difficult to say if the noise is related to your ABS/traction lights going weird while going over a bump. Usually this type of light issue means there is a partial bad electrical connection somewhere between the sensor on the wheel and the controller. It could be at the sensor or in a line connector somewhere.
I assume your brake person verified that the sensors are OK

try the sensor attached to brake peddal

IF you installed the wrong brake rotors,without the ABS reluctor ring[if equipped],the light will come on.Second possibility is you damaged the ABS wiring to the wheel speed sensor.There is a harness to each wheel.

Could possibly have a bad connection on a wheel speed sensor. This would cause an erratic reading making the ABS light come on because the system thinks a wheel is either slipping or dragging.

Disconnect the positive lead on battery wait about 30 seconds and reconnect. Take it out somewhere where you can floor it and go through the gears a couple times. This will clear error lights and establish a new acceration curve. If the error comes back then start looking for loose connections or alignment problem for abs stuff.

wheel sensor may be gone or have moisture in it