i disconnected the battery for 15 minutes but lights were still there. I did not touch them together while they were disconnected. Is this what you were saying I should do? If so, for about how long?
To be honest, disconnecting the battery should be all you have to do. But touching the two battery terminals together for 10 secs or so, just makes sure there is no residual capacitor storage which might still be holding the codes. So, take the battery leads off. Touch the two leads together for 10 to 15 seconds and then reconnect the leads to the battery. That way you know you have done your best to ensure that codes that can be removed this way, have been. However, not all codes can be removed this way. In fact many can't. It doesn't sound like you have a lot of knowledge regarding diagnostic trouble codes (many people don't, because they can be quite confusing) so I would not recommend you buy a scanner since trying to work out what it is telling you can be difficult even for experienced people. The scanner at best just gives you a clue, not the answer. And, at worst, it wont even give you a code if its a really cheap scanner.
If removing the battery terminals has not fixed the issue, then you have something deeper and you will need to seek expert help. My suspicion is the need to re-programme the TCS pressure sensor possibly as a result of the battery removal but not necessarily. Did you change the tire size recently? Anyway, this can only be done by a Honda dealer with their K-line scanners as I understand it, but there is one more option you can try.
Google this:
"yellow triangle light is on and the TCS light"
In the searches you should find a work around which can do re-programme without the need to take it to the dealership. But of course it's all your responsibility and if you are not up to this you will need to take it to the dealer.
Hope this helps
Terry