In my case this error occured when I set up my environment adb path as ~/.android-sdk/platform-tools
(which happens when e.g. android-platform-tools is installed via homebrew), which version was 36, but Android Studio project has Android SDK next path ~/Library/Android/sdk
which adb version was 39.
I have changed my PATH to platform-tools to ~/Library/Android/sdk/platform-tools
and error was solved