Unless that rotor is causing the wheel to lock up, or slowing significantly more than the other(s), it should not cause ABS activation. If the ABS lamp is not coming on, the system thinks the condition, whatever it is, is normal, or not yet bad enough to sound the alarm. You really need to get a capable scanner in play to know if you're having an intermittent condition, that will set historical codes, but may not cause the ABS lamp. Many of the system errors must repeat within so much time or run cycles before actually showing you the lamp. If the condition is repeatable, repeat it, many times within the same run cycle. The ABS lamp should show up, if the condition is outside of the set parameters.

If the ABS pump is activating, AND it is pulling to the right, either the right wheel is locking up, or the problem is not the right wheel. Possibly, it could be a left wheel issue, and the (ABS) right wheel/brake is compensating, causing the R/H pull. An abnormal rotor wear could certainly be caused by this condition, as a symptom or result, and not necessarily the cause. Uneven rotor wear can also cause a braking bias (between the L/R), giving the ABS computer fits.