DENVER | Prosecutors say four Aurora police officers were defending themselves when they shot and killed a carjacking suspect.

The Denver Post reports  the officers will not face charges in the May 11 death of 35-year-old Stephen Schuster, who carjacked an SUV and rammed a police cruiser during the chase that followed. Officers say they fired multiple rounds at the man after he pointed a gun at them.

Police then advanced toward the vehicle, firing a stun gun at Schuster because he was still holding the weapon and was not obeying commands.

A woman who was in the stolen SUV told investigators that Schuster vowed to shoot it out with the police and kill them all if he had to.

Police say Schuster had an extensive criminal record, including assaulting a police officer.

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