Taking the lens off and back on does nothing unless you clean the gold contacts on both the lens and camera body. Most common method is to use a clean pencil eraser and lightly polish the contacts. Do this while the lens is inverted to help prevent dirt from getting into the lens cavaity.
Also the camera body try to hold the lens cavity downward to help prevent dirt or dust from getting into the camera Gently polish the contacts. You might want to do this with all your lenses and battery contacts.
The Error 99 is Canon's way of saying electrical communications are at fault but they don't tell you which one.
Also doing a camera firmware update often times works the best for this error code.
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