McManus said Officer Marc Valero shot 42-year old Alfonso Escamilla as he walked toward him with a gun in hand, ignoring the officer's commands to drop the weapon.
Escamilla, who police believe was connected to five other robberies, died at Wilford Hall Medical Center.
Police said Escamilla's in-laws told them he had stopped at their residence and said in effect that he would not be taken easily, the San Antonio Express-News reported in its online edition.
Valero was not injured and was placed on administrative duty.
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