Hello. I have been building a couple gs4's I ran into this same issue with one. I ended up swapping out the USB charging board and seemed to be the issue. I put the board out of the phone that gave that message in a phone I know worked and got the same message. I will know for sure when I get the new board in and confirm this. I'll let you know. Could also be the battery. Start there.Batteries are not something you want from a generic manufacturer.
Also, you might try clearing your system cashe. I don't see how it would affect your battery but it certainly wouldn't hurt to try it. It's not difficult, but I'm not to clear on the exact buttons you have to hold, so just Google "Galaxy S4 clear system cashe".