I read SO about another user encountering similar error, but this error is in different case.
I received this message when I added a View Controller initially:
I encountered this error when I hooked a UIButton to a storyboard segue action (in IB) but later decided to have the button programatically call performSegueWithIdentifier
forgetting to remove the first one from IB.
In essence it performed the segue call twice, gave this error and actually pushed my view twice. The fix was to remove one of the segue calls.
Hope this helps someone as tired as me!