Apparently, he didn’t get that close before he was caught in the bushes at Trump’s Mar-a-Lago golf course. Shots were fired, but it might have just been shots between Secret Service and him. The shooter was caught after a camera picked up his license plate after somebody took a picture of his car as he was fleeing.
I found a YouTube link in your post. Here are links to the same video on alternative frontends that protect your privacy: