diff --git a/robowflex_dart/include/robowflex_dart/robot.h b/robowflex_dart/include/robowflex_dart/robot.h
index cca13ac4e..1acac4240 100644
--- a/robowflex_dart/include/robowflex_dart/robot.h
+++ b/robowflex_dart/include/robowflex_dart/robot.h
@@ -3,8 +3,10 @@
 #ifndef ROBOWFLEX_DART_ROBOT_
 #define ROBOWFLEX_DART_ROBOT_
 
+#ifndef ROBOWFLEX_DART_ONLY
 #include <moveit/robot_state/conversions.h>
 #include <moveit/robot_state/robot_state.h>
+#endif
 
 #include <dart/dynamics/Skeleton.hpp>
 #include <dart/collision/CollisionFilter.hpp>
@@ -95,6 +97,7 @@ namespace robowflex
             /** \name State Operations
                 \{ */
 
+#ifndef ROBOWFLEX_DART_ONLY
             /** \brief Set the current state of this robot from a MoveIt message.
              *  \param[in] msg Message to set state to.
              */
@@ -139,6 +142,7 @@ namespace robowflex
              */
             void setMoveItJMGFromState(const std::string &jmg, Eigen::Ref<Eigen::VectorXd> vec) const;
 
+#endif
             /** \} */
 
             /** \name Group Operations
diff --git a/robowflex_dart/src/robot.cpp b/robowflex_dart/src/robot.cpp
index c55cefb1d..663726062 100644
--- a/robowflex_dart/src/robot.cpp
+++ b/robowflex_dart/src/robot.cpp
@@ -461,6 +461,7 @@ void Robot::setNamedGroupState(const std::string &group, const std::string &name
         it->second = q;
 }
 
+#ifndef ROBOWFLEX_DART_ONLY
 void Robot::setStateFromMoveItMsg(const moveit_msgs::RobotState &msg)
 {
     for (std::size_t i = 0; i < msg.joint_state.name.size(); ++i)
@@ -564,6 +565,7 @@ void Robot::setMoveItJMGFromState(const std::string &jmg, Eigen::Ref<Eigen::Vect
     setMoveItStateFromState(*robot_->getScratchState());                  // copy current state
     robot_->getScratchState()->copyJointGroupPositions(jmg, vec.data());  // copy JMG state
 }
+#endif
 
 void Robot::processGroup(const std::string &group)
 {