Here's the problem; the other day, I started hearing rubbing noises coming from the front passenger wheel that would become more and less frequent, depending on the speed I was driving. Today, the brakes became very mushy, and I tore off the wheel to see what was going on. I noticed that the rotor was very loose, I checked the parts of the suspension that were accessible from the wheel well, and the tie rod, but I did not notice anything that was loose. Please help!

Edit: I forgot to mention that I have (ABS) and BAS ESP lights on my dash as well