diff --git a/moveit_core/macros/include/moveit/macros/deprecation.h b/moveit_core/macros/include/moveit/macros/deprecation.h
deleted file mode 100644
index 2162988004..0000000000
--- a/moveit_core/macros/include/moveit/macros/deprecation.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2012, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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- *********************************************************************/
-
-#pragma once
-
-/** \def MOVEIT_DEPRECATED
-    Deprecated macro that marks functions as deprecated (TODO: Remove for Noetic) */
-
-#warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
-#ifdef __GNUC__
-#define MOVEIT_DEPRECATED __attribute__((deprecated))
-#elif defined(_MSC_VER)
-#define MOVEIT_DEPRECATED __declspec(deprecated)
-#elif defined(__clang__)
-#define MOVEIT_DEPRECATED __attribute__((deprecated("MoveIt: Use of this method is deprecated")))
-#else
-#define MOVEIT_DEPRECATED /* Nothing */
-#endif