DETROIT (AP) — Prosecutors have charged two 18-year men with murder and other charges for the fatal shooting of an off-duty Detroit firefighter during a robbery.

A judge ordered Sunday that Arondez Carter and Shomari Walker remain jailed without bond and entered not guilty pleas on their behalf. Carter and Walker are charged in the death of 29-year-old firefighter Jack Wiley Jr.

Authorities say a relative found Wiley dead Tuesday in his Detroit house. His car had been stolen, but was recovered a few hours after police were called to the scene.

Wiley was the son of a firefighter and had been with the Detroit department for four years.

Carter and Walker appeared via video on Sunday before the judge, who ordered public defenders be appointed for both of them.