The error means that the form field cannot find a compatible material input inside of it.
Do not use <mat-checkbox> inside <mat-form-field>.
The following Angular Material components are designed to work inside a
<mat-form-field>:
<input matNativeControl>&<textarea matNativeControl>(version 7 & newer)
<select matNativeControl>(version 7 & newer)
<input matInput>&<textarea matInput>(version 5 & 6)
<mat-select>
<mat-chip-list>
Source: Official docs