Shipment &1 cannot be assigned; shipment types do not match

What causes this issue?

The shipment '&V1&' could not be assigned to the booking order '&V2&'
because the shipment type '&V3&' of the shipment is no predecessor
shipment type of the shipment type '&V4&' of the booking order.

System Response

The assignment of the shipment to the booking order failed.

How to fix this error?

Define the shipment type '&V3&' as predecessor shipment type for the
successor shipment type '&V4&' in Customzing.

Procedure for System Administrators

The system issues an error message and will not allow you to continue with this transaction until the error is resolved.

Error message extract from SAP system. Copyright SAP SE.