This is not an error message but merely a message stating that a PIM message has been received on the specific vlan, which indicates that a PIM router is on that vlan. This message is triggered by the debug command that you used.
About the real problem, did you check that the router does see the multicast traffic (show ip mroute)? If so, there might be other issues, such as misconfiguration or the application not setting the TTL high enough to reach the destination.
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We are pleased to announce availability of Beta software for 16.6.3.
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