diff --git a/debian/rules.em b/debian/rules.em
index 276329d..e56e78d 100755
--- a/debian/rules.em
+++ b/debian/rules.em
@@ -41,8 +41,14 @@ override_dh_auto_build:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree that was dropped by catkin, and source it.  It will
 	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+	#
+	# j-rivero: inject DESTDIR since the bazel Cmake wrapper in Drake will run
+	# the install target when executing make. That target will install
+	# Drake generated code in this step. Injecting DESTDIR since the Drake
+	# CMake wrapper is sensible to transform it into an installation prefix.
+	export DESTDIR=$(CURDIR)/debian/@(Package)/
 	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
-	dh_auto_build
+	DESTDIR=$(CURDIR)/debian/@(Package)/ dh_auto_build
 
 override_dh_auto_test:
 	# In case we're installing to a non-standard location, look for a setup.sh
@@ -59,6 +65,9 @@ override_dh_shlibdeps:
 	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_shlibdeps -l$(CURDIR)/debian/@(Package)/@(InstallationPrefix)/lib/
 
+override_dh_prep:
+	dh_prep -Xdebian/@(Package) $@@
+
 override_dh_auto_install:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree that was dropped by catkin, and source it.  It will