Canon Rebel Error Messages

I shoot with a rebel with a 70-200 IS 2.8 lens. Lately I have been
getting 00 and 01 messages. I have to pull the battery to reset as
shutting the camera off and on doesn't do it. I was told to clean the
contacts on the camera and lens which I did but still the problem
persists. Canon just said to send the whole setup (camera and Lens) in. My camera shop didn't have any clue or suggestions. Do any
of you?

Rich
:(

Common problem with the 70-200 IS, get in while under warranty in case the IS unit is toast, which is usually the case if it happens regularly. In about 20,000 shots I've gotten the error three times with the 70-200 IS. Once the IS unit is dead it totally locks up the lens, so if it starts happening often I would get it in.