after updating Pod library getting above error in appdelegate.m
- (void)application:(UIApplication*)application didRegisterForRemoteNotificationsWithDeviceToken:(NSData*)deviceToken {
    [[FIRInstanceID instanceID] setAPNSToken:deviceToken type:FIRInstanceIDAPNSTokenTypeSandbox];
    NSString *newToken = [deviceToken description];
    newToken = [newToken stringByTrimmingCharactersInSet:[NSCharacterSet characterSetWithCharactersInString:@"<>"]];
    newToken = [newToken stringByReplacingOccurrencesOfString:@" " withString:@""];
    NSLog(@"My token is: %@", newToken);
}
It is deprecated code, you should try with the FIRMessaging
You can update your code to look like this
// With "FirebaseAppDelegateProxyEnabled": NO
- (void)application:(UIApplication *)application
didRegisterForRemoteNotificationsWithDeviceToken:(NSData *)deviceToken {
    [FIRMessaging messaging].APNSToken = deviceToken;
}
Refer here for more details.
You probably have an old version of firebase_messaging in your pubspec.yaml. Make sure you have the latest version. If this does not help, go to the ios folder (cd ios/), then run pod update, and then flutter clean. Then, run your app again. 
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