Sounds like the Kehoe brothers incident just outside of Wilmington Ohio, but its not a felony stop and they didn't rob a bank moments prior;
Kehoe brothers shootout - www.FootyPD.com
This is the entire traffic stop, its important to view the entire thing so you can get a feel for what happened. The part that was all over the national media is the last 30 seconds or so of this video.
Here is another interesting tidbit relating to this incident;