HOUSTON, Texas -- A witness to the fatal shooting of Lorenzo Salgado Araujo by a federal immigration agent in Houston said Thursday he is traumatized and unable to sleep, especially since he says Salgado Araujo never posed a threat to officers and was going to surrender when his van was stopped.

ICE, in its initial statement early this month, said Salgado Araujo rammed into a law enforcement vehicle and refused to follow commands before an agent fired his weapon in self-defense.

"That's a lie," Jose Trinidad Rojas Pliego, 51, a passenger in the van who was released from ICE custody Wednesday, said in an exclusive interview with CNN airing on Erin Burnett OutFront.