I know I'm a bit late to the party, just wanted to add that the error can also happen when the div doesn't exist in the page. You can also check if the div exists first before loading the google maps function call. Something like
function initMap() {
if($("#venuemap").length != 0) {
var city= {lat: -26.2041, lng: 28.0473};
var map = new google.maps.Map(document.getElementById('venuemap'), {
etc etc
}
}