No goods receipt exists: You cannot enter the invoice

What causes this issue?

You are entering an invoice for an order item for which goods-receipt-
based invoice verification has been defined.

System Response

You can only post an invoice for an order item for which goods-receipt-
based invoice verification has been defined if a goods receipt has been
posted.

How to fix this error?

You currently cannot post the invoice.
If you expect a goods receipt almost immediately, you may be able to
enter the invoice using invoice verification type 2, where the invoice
is checked later on in the background. If the goods receipt has been
posted, the invoice will be posted in the background.
If the goods receipt is not due so soon, you can enter the invoice
using the invoice verification type 3 (do not check) and post it later.

Error message extract from SAP system. Copyright SAP SE.