My dear good sir,

I have countered the same problem, turns out it caused by using the same IDs within both action and menu.

A sample:

<record id="an_id" .... >

<menuitem id="an_id" .... >

You are welcome.

This error occurred to me and I take several hours trying to discover what caused it, and in the last I find that I make a stupid something I didn't notice It .
I named  the id of the action and the menuitem with the same name. 
so you need to delete the ation and the menu from database and rename the id of the menu and the action. 
This solve the error

I'm facing the same problem. Did someone had seen this lately?