Charging issue in mobile

That message is usually shown from liquid damage on the charging port or components near the charging port.

To fix this problem it requires disassembling the phone, removing corrosion from the charging port, components near it and/or replacing the charging port.

Unfortunately on this model you will need to remove the screen first (with the risk of cracking the screen) to get access to the internals of the phone.

I would recommend to take it to a phone repair shop for diagnosing the problem.

If the phone still has warranty, it's better you take it to Samsung to get it fixed under warranty.