A federal judge ordered the Department of Homeland Security on Monday to release Jose Trinidad Rojas Pliego, whom the government took into custody in connection with the recent fatal shooting of Lorenzo Salgado Araujo by federal agents in Texas.

Immigration and Customs Enforcement killed Salgado Araujo, a homebuilder in Houston, on July 7 as he drove his work crew to a construction site. Rojas Pliego, a Mexican citizen who has lived in the United States since 1998, was one of three other people in the white work van, all of whom were detained by ICE following the fatal incident.