remove deprecated deprecation.h header in noetic

[v4hn]

The TODO mentioned to remove this in noetic.

[codecov]

Codecov Report

Merging #2693 (e497822) into master (ccc1c52) will increase coverage by 0.07%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #2693      +/-   ##
==========================================
+ Coverage   60.54%   60.60%   +0.07%     
==========================================
  Files         402      402              
  Lines       29601    29615      +14     
==========================================
+ Hits        17918    17946      +28     
+ Misses      11683    11669      -14     

Impacted Files	Coverage Δ
...e/collision_detection_fcl/src/collision_common.cpp	77.67% <0.00%> (-0.94%)	⬇️
.../collision_detection_fcl/src/collision_env_fcl.cpp	89.64% <0.00%> (-0.25%)	⬇️
.../move_group_interface/src/move_group_interface.cpp	47.12% <0.00%> (-0.19%)	⬇️
moveit_core/robot_state/src/robot_state.cpp	50.64% <0.00%> (-0.09%)	⬇️
.../collision_detection/test_collision_common_panda.h	99.37% <0.00%> (+0.02%)	⬆️
...raint_samplers/src/default_constraint_samplers.cpp	84.22% <0.00%> (+0.33%)	⬆️
...meterization/work_space/pose_model_state_space.cpp	83.98% <0.00%> (+1.93%)	⬆️
...ipulation/pick_place/src/manipulation_pipeline.cpp	73.79% <0.00%> (+1.95%)	⬆️
moveit_core/robot_model/src/joint_model_group.cpp	65.00% <0.00%> (+1.95%)	⬆️
...e/src/parameterization/model_based_state_space.cpp	71.13% <0.00%> (+2.82%)	⬆️
... and 1 more

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