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Error 99 is Canon's default for several "connection" problems most common are dirty contacts between the lens and camera body. Another is the contacts in the battery compartment both the camera and the battery contacts should be cleaned.
The camera might not be able to read the memory card, download the pictures to your computer and format the memory card don't delete them format the card this function is found in the set up menu.
Formatting is one of the most important functions to keep the camera and memory card communicating AND is the most neglected function. Always format a new memory card and always format a memory card after downloading pictures to a computer. Format a memory card if it's been in another camera.
Cleaning the lens and body contacts can be done fairly easily with a clean pencil eraser, don't use a puffer on the body as you will blow dirt into the camera. With the lens removed hold the camera as much as possible with the lens opening pointed down and gently polish the gold contacts. Do the same with the lens contacts make sure both areas are clean and re install the lens to the body.
Possibly the most important "fix" is to update your camera's firmware. Go to Canon's web site (it can be a bit intimidating at first) and search through until you find the firmware updates for your camera. Download this generally they want you to download to a memory card then place the card into the camera and upload the new firmware updates.
The Canon 30D (in my opinion) is one of the best no frills, greatest working DSLR cameras Canon produced. Not saying the model's beyond are not it's just the 30D isn't loaded down with video functions. Great all around working camera, sorry my rant for the day.
If you have done all that was listed in your description "normally" error 99 is an electronic malfunction however, a camera firmware update may also fix the problem. Canon has these updates on their site and it can prove beneficial in this case. One of the offices I look after had two Canon 30D's great camera and they used them hard for two and a half year and at 80,000 frames I had Canon Canada replace the shutter and shutter button which is a weak link in the electronic chain. The shutter release button gets oils from the users hands down into the circuit and causes faults as well. Most times you can see a slight build up of oils in the switch between the button and the camera body. Don't bother trying to clean it the stuff is already down inside. Try the firmware update first then if the problem is solved you are good to go if not then it's service time.
If you have dirt on the sensor, it can be cleaned using special products. If you Google the words "how to clean an SLR sensor", you will find sites that explain the procedure with pictures and places where you can order the supplies needed. This is much less expensive than trying to replace the ccd sensor.
Sounds like it needs service. You can try resetting the camera to its factory default settings and see if that does anything. On the Setup Menu (wrench and hammer symbol), go to Clear settings, then Clear all camera settings, and select OK. This is covered on page 37 of the manual.