I faced this issue. In my case the Buy Route had no Procurement Rule Set. It was blank. Under the Inventory module I went to Settings / Warehouses / WH and checked the box names “”Purchase to Resupply this Warehouse”. This created the missing Procurement Rule inside the Buy route. This worked for me. May be you should try. 

Have you changed and default routes. Probably this error occurred when you have wrong route configured or in chain if system not get the route to perform then it gives this error.

Please check your products routes.

(BTW currently not any easiest way to  know system breaks due to which route)

If you want to know which product's route is not define properly, just inherit this method and it will give you relevant message.  

class ProcurementGroup(models.Model):

_inherit = 'procurement.group'

_description = 'Procurement Requisition'

_order = "id desc"

@api.model

def run(self, product_id, product_qty, product_uom, location_id, name, origin, values):

values.setdefault('company_id', self.env['res.company']._company_default_get('procurement.group'))

values.setdefault('priority', '1')

values.setdefault('date_planned', fields.Datetime.now())

rule = self._get_rule(product_id, location_id, values)

if not rule:

raise UserError(_('No procurement rule found. Please verify the configuration of %s routes, product id %s') % (product_id.name, product_id.id))

getattr(rule, '_run_%s' % rule.action)(product_id, product_qty, product_uom, location_id, name, origin, values)

return True