“The suspects fled after the crime,” it said in a statement.
Rodrigues, 68, spent 42 years in prison for homicide.
He shot to fame for a series of high-profile interviews in the Brazilian media, in which he claimed to have killed his victims because they had themselves committed crimes.
Known as “Pedrinho Matador,” or “Little Pedro the Killer,” Rodrigues had also been nicknamed the “Brazilian Dexter,” for the US series about a vigilante serial killer.
Released in 2018, Rodrigues began a new life as a social media personality, racking up more than 250,000 followers on video app Kwai with posts telling his unusual life story, commenting on high-profile cases and warning young people against a life of crime.
Criminologist Ilana Casoy, who met Rodrigues, described him as a charismatic man who was “joyful, casual and intelligent.”
“He fascinated people — a reflection of our society, in a country where only 10 percent of homicides are brought to justice,” she told newspaper Folha de Sao Paulo.