Floyd, who moved to Minneapolis for a fresh start, hailed from Houston's Third Ward.
“The option to use active duty forces in a law enforcement role should only be used as a matter of last resort and only in the most urgent and dire situations," Esper said.
Retired St. Louis police Capt. David Dorn was responding to an alarm at a friend's pawn shop when he was shot.
More than 350 protests across the country have erupted in response to the killing of George Floyd in Minnesota last week.
After spending days seeing her city gripped with trauma and fury, Minneapolis resident Ashley Phelps realized she didn't have the option to remain on the sidelines, and decided to join the protests. She spoke with NBC News about her experience as a first-time protester.