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The officer was an apartment complex in the suburbs of Baytown, where Baytown Police said. A family member identified the woman as Pamela Shantay Turner.
The officer knew the 45-year-old woman had outstanding warrants and started trying to arrest her, police said.
A witness' cell phone video captures the moments leading up to the shooting.
"I'm walking! I'm actually walking to my house!" the woman screams at him. She later says the officer is "harassing" her.
The video shows the officer, but she breaks free. The officer then fires his Taser stun gun and the woman slowly drops to the ground.
A scuffle ensues. The woman keeps yelling "Why?" but the officer is not heard answering.
As the officer keeps trying to arrest the woman, "I'm pregnant!"
The struggle continued, and the Baytown police, the woman "was able to gain control of the Taser and used it on the officer."
In the video, the woman appears to reach for the officer, who stands back and fires five shots toward her.
Baytown police said the officer, but she was pronounced dead at the scene.
Floyd Rubin, who shares two children with Turner, told CNN that he did not share any details with his family about the shooting.
Baytown police said he is an 11-year veteran of the department.
"The Harris County District Attorney's Office is on scene and assisting in the investigation," Baytown Police said.
CNN's Joe Sutton contributed to this report.
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