should the engine be running? ... the book says key in the on position ... I have an 05 roadster limited edition and have been having trouble with the BAS/ESP light too ... I've tried the wheel turning routine but light is on after a few miles ... I've been reading the forum and have learned a lot ... just read about the fuse box cover and sure enough the cover was on wrong ... I pulled the ESP and BAS fuses and put some silicone dielectric grease on them even though they didn't look that bad ... maybe that will fix the problem ... don't know ... other things I've done are
1) check tire pressure
2) check battery voltage
3) check for corrosion on battery terminals
4) read everything I could get my hands on

I'm not too excited about going to a dealership ... too much $ ... would rather try to fix it myself ... if the light comes back on then I'll go the next level looking at the brake paddle switch and if needed get a diagnostic code reader for the car ... any suggestions on what reader to get?