Family and friends gathered Monday to remember the Brooklyn man who was shot by an undercover police officer earlier this month.

The Reverend Al Sharpton delivered the eulogy for 49-year-old Shem Walker at the Full Gospel Assembly Church.

Police say Walker was killed after he told an undercover narcotics officer sitting on his stoop to leave and then attacked the officer after he refused.

During the struggle, Walker was shot in the chest.

His family says they want to make sure his death was not in vain.

"Cousins, mother, father -- everybody that's involved in this, everybody wants justice. And everybody knows Uncle Shem. He was not only loved, but respected amongst the community," said Christopher Nurse, Walker's nephew. "He would want us to just go ahead and see this thing through to the end, because we can't let things like this just occur."

"This is not about black or white. This is a black cop. This is about right and wrong. And this black cop is as wrong as if he was white or anything else," said Sharpton.

Walker's family has been calling for an independent investigation into the shooting.

They say the man never identified himself as a police officer.

Local lawmakers are also asking for witnesses who heard or saw what happened that night to come forward.