SOUTHINGTON — Police issued an arrest warrant for a Bloomfield man wanted in connection with a carjacking and bank robbery on Sunday. A Meriden man already charged in the incident appeared in court on Monday and is being held in lieu of $500,000 bond. The warrant charges Lamar McCarthy, 31, whose last known address is 9 Gorham Ave., Bloomfield, with first-degree kidnapping, second-degree robbery, conspiracy, second-degree larceny, carjacking and engaging in pursuit. He is described as 5 feet 9 inches tall and 165 pounds. Anyone with information on his whereabouts is asked to call 911. Norman Renaldi, 44, whose last known address was on Dogleg Drive in Meriden, was arrested Sunday and charged with first-degree robbery, second-degree larceny, attempted carjacking, engaging police in pursuit, interfering with police, possession of narcotics and three counts of criminal attempt to commit second-degree kidnapping.Police said nature of the relationship between McCarthy and Renaldi is unknown.During an appearance in Bristol Superior Court on Monday, a prosecutor and the public defender representing Renaldi said he suffers from heroin addiction and other mental health issues. He served in the Army from 1990 until 2006, according to the bail commissioner.The case was transferred to New Britain Superior Court, where Renaldi is expected to appear July 5. About 1:15 p.m. Sunday, police were called to the People’s Bank inside Stop & Shop, 505 N. Main St., after Renaldi handed a note to a bank attendant demanding money, according to police. Renaldi had one hand in a pocket of his sweatshirt and the teller thought he had a weapon. The teller handed over $12,669 and Renaldi got into a red minivan driven by McCarthy, police said. All the money was later recovered.As Renaldi and McCarthy drove north on Route 10, the van hit another vehicle, causing a flat tire. The van stopped in front of Shell gas station, 212 Main St., where Renaldi and McCarthy got out. One of the pursuing officers saw McCarthy pull a man out of a white Jeep Cherokee and get into the driver’s seat, police said. Renaldi went to the passenger side, where a woman was sitting in the seat, but McCarthy took off before Renaldi got into the vehicle. The woman and her two grandchildren, ages 6 and 3, were inside the Jeep. McCarthy drove the Jeep toward Interstate 84. He let the woman and her two grandchildren out at the commuter lot by exit 26 of I-84 on the Cheshire-Waterbury line. They were not injured, police said.Approached by police at the gas station, Renaldi reached into his pockets, leading officers to believe he was retrieving a weapon and prompting them to draw their guns. He charged at two officers and was taken into custody, according to police. He was later found to have a knife in his boot, police said. Nasar Algahmi was on duty as a cashier on Sunday. He said Monday that the man whose vehicle was stolen was a regular customer, who had just finished gassing up when McCarthy forced his way into the vehicle.“We felt really bad for the kids, and for the woman, too” he said. “They were screaming, ‘there’s kids in the car.’ We feel happy that nobody got hurt.”Anyone with information, including the whereabouts of the white Jeep Cherokee with license plate AJ13246 is asked to contact police immediately. Those who wish to remain anonymous can call the department’s tip line at 860-276-1234.