diff --git a/CHANGELOG.md b/CHANGELOG.md
index 00f4bf82ac3..978c3c4439a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,6 +13,7 @@
 * Planner
 
   * Fixed key bugs in CRRTs: [#574](https://github.com/personalrobotics/aikido/pull/574)
+  * Make planner_dart component and build all DART planners as planner_dart component: [#567](https://github.com/personalrobotics/aikido/pull/567)
   * Added ConfigurationToConfigurations planner adapter: [#587](https://github.com/personalrobotics/aikido/pull/587)
   * Cleaned up planning methods in robot/util: [#588](https://github.com/personalrobotics/aikido/pull/588)
 
diff --git a/src/planner/CMakeLists.txt b/src/planner/CMakeLists.txt
index cc3720d04a1..da53f8e969f 100644
--- a/src/planner/CMakeLists.txt
+++ b/src/planner/CMakeLists.txt
@@ -14,20 +14,6 @@ set(sources
   SequenceMetaPlanner.cpp
   World.cpp
   WorldStateSaver.cpp
-  dart/ConfigurationToConfiguration.cpp
-  dart/ConfigurationToConfigurationPlanner.cpp
-  dart/ConfigurationToConfigurations.cpp
-  dart/ConfigurationToConfigurationsPlanner.cpp
-  dart/ConfigurationToEndEffectorOffset.cpp
-  dart/ConfigurationToEndEffectorPose.cpp
-  dart/ConfigurationToTSR.cpp
-  dart/ConfigurationToEndEffectorOffsetPlanner.cpp
-  # dart/ConfigurationToEndEffectorPosePlanner.cpp
-  dart/ConfigurationToTSRPlanner.cpp
-  dart/ConfigurationToConfiguration_to_ConfigurationToConfiguration.cpp
-  dart/ConfigurationToConfiguration_to_ConfigurationToConfigurations.cpp
-  dart/ConfigurationToConfiguration_to_ConfigurationToTSR.cpp
-  dart/util.cpp
 )
 
 add_library("${PROJECT_NAME}_planner" SHARED ${sources})
@@ -63,6 +49,7 @@ add_component_dependencies(${PROJECT_NAME} planner
 clang_format_add_sources(${sources})
 
 add_subdirectory("ompl")        # [constraint], [distance], [statespace], [trajectory], dart, ompl
+add_subdirectory("dart")        # [constraint], [distance], [trajectory], [statespace], [planner_ompl], dart, ompl
 add_subdirectory("parabolic")   # [external], [common], [trajectory], [statespace], dart
 add_subdirectory("vectorfield") # [common], [trajectory], [statespace], dart
 add_subdirectory("kunzretimer") # [external], [common], [trajectory], [statespace], dart
diff --git a/src/planner/dart/CMakeLists.txt b/src/planner/dart/CMakeLists.txt
new file mode 100644
index 00000000000..88bfcadacc2
--- /dev/null
+++ b/src/planner/dart/CMakeLists.txt
@@ -0,0 +1,62 @@
+if(CMAKE_COMPILER_IS_GNUCXX)
+  if(OMPL_VERSION VERSION_GREATER 1.2.0 OR OMPL_VERSION VERSION_EQUAL 1.2.0)
+    if(Boost_VERSION VERSION_LESS 106501)
+      message(STATUS "OMPL planners are disabled for OMPL (>=1.2.0) + GCC + "
+          "Boost (< 1.65.1). For details, please see: "
+          " https://github.com/personalrobotics/aikido/issues/363"
+      )
+      return()
+    endif()
+  endif()
+endif()
+
+#==============================================================================
+# Libraries
+#
+set(sources
+  ConfigurationToConfiguration.cpp
+  ConfigurationToConfigurationPlanner.cpp
+  ConfigurationToConfiguration_to_ConfigurationToConfiguration.cpp
+  ConfigurationToConfiguration_to_ConfigurationToTSR.cpp
+  ConfigurationToEndEffectorOffset.cpp
+  ConfigurationToEndEffectorPose.cpp
+  ConfigurationToEndEffectorOffsetPlanner.cpp
+  ConfigurationToTSR.cpp
+  ConfigurationToTSRPlanner.cpp
+  util.cpp
+)
+
+add_library("${PROJECT_NAME}_planner_dart" SHARED ${sources})
+target_include_directories("${PROJECT_NAME}_planner_dart" SYSTEM
+  PUBLIC
+    ${DART_INCLUDE_DIRS}
+    ${OMPL_INCLUDE_DIRS}
+)
+target_link_libraries("${PROJECT_NAME}_planner_dart"
+  PUBLIC
+    "${PROJECT_NAME}_common"
+    "${PROJECT_NAME}_constraint"
+    "${PROJECT_NAME}_distance"
+    "${PROJECT_NAME}_trajectory"
+    "${PROJECT_NAME}_statespace"
+    "${PROJECT_NAME}_planner"
+    "${PROJECT_NAME}_planner_ompl"
+    ${DART_LIBRARIES}
+    ${OMPL_LIBRARIES}
+)
+target_compile_options("${PROJECT_NAME}_planner_dart"
+  PUBLIC ${AIKIDO_CXX_STANDARD_FLAGS}
+)
+
+add_component(${PROJECT_NAME} planner_dart)
+add_component_targets(${PROJECT_NAME} planner_dart "${PROJECT_NAME}_planner_dart")
+add_component_dependencies(${PROJECT_NAME} planner_dart
+  constraint
+  distance
+  planner
+  planner_ompl
+  statespace
+  trajectory
+)
+
+clang_format_add_sources(${sources})
diff --git a/src/planner/vectorfield/CMakeLists.txt b/src/planner/vectorfield/CMakeLists.txt
index 74ce82c4d6f..42e0717d349 100644
--- a/src/planner/vectorfield/CMakeLists.txt
+++ b/src/planner/vectorfield/CMakeLists.txt
@@ -1,3 +1,7 @@
+if(NOT TARGET ${PROJECT_NAME}_planner_dart)
+  return()
+endif()
+
 set(sources
   VectorFieldPlanner.cpp
   VectorField.cpp
@@ -19,6 +23,7 @@ target_link_libraries("${PROJECT_NAME}_planner_vectorfield"
     "${PROJECT_NAME}_trajectory"
     "${PROJECT_NAME}_statespace"
     "${PROJECT_NAME}_planner"
+    "${PROJECT_NAME}_planner_dart"
     ${DART_LIBRARIES}
     ${Boost_LIBRARIES}
 )
diff --git a/src/robot/CMakeLists.txt b/src/robot/CMakeLists.txt
index 9c6c6ad8fd0..9e79838bb13 100644
--- a/src/robot/CMakeLists.txt
+++ b/src/robot/CMakeLists.txt
@@ -1,7 +1,8 @@
 #==============================================================================
 # Dependencies
 #
-if(NOT TARGET ${PROJECT_NAME}_planner_ompl)
+if(NOT TARGET ${PROJECT_NAME}_planner_ompl OR
+   NOT TARGET ${PROJECT_NAME}_planner_vectorfield)
   return()
 endif()
 set(CMAKE_REQUIRED_DEFINITIONS "")
diff --git a/tests/planner/CMakeLists.txt b/tests/planner/CMakeLists.txt
index 9e5e2138710..369060af8ad 100644
--- a/tests/planner/CMakeLists.txt
+++ b/tests/planner/CMakeLists.txt
@@ -10,13 +10,18 @@ target_link_libraries(test_SnapPlanner
   "${PROJECT_NAME}_trajectory"
   "${PROJECT_NAME}_planner")
 
+aikido_add_test(test_World test_World.cpp)
+target_link_libraries(test_World
+  "${PROJECT_NAME}_planner")
+
+if(NOT TARGET ${PROJECT_NAME}_planner_dart)
+  return()
+endif()
+
 aikido_add_test(test_DartPlanners test_DartPlanners.cpp)
 target_link_libraries(test_DartPlanners
   "${PROJECT_NAME}_constraint"
   "${PROJECT_NAME}_distance"
   "${PROJECT_NAME}_trajectory"
-  "${PROJECT_NAME}_planner")
-
-aikido_add_test(test_World test_World.cpp)
-target_link_libraries(test_World
-  "${PROJECT_NAME}_planner")
+  "${PROJECT_NAME}_planner"
+  "${PROJECT_NAME}_planner_dart")