A Florida SWAT team had an arrest fall right into their lap, literally ... because a barricaded suspect hiding in his attic fell through the ceiling and into a sea of deputies ... and it's all on video.

Check out this footage out of Sebastian, FL ... where a SWAT team and crisis negotiators were called in to capture a man with a long rap sheet who was wanted for allegedly driving a stolen car. Indian River County Sheriff's Office

The Indian River County Sheriff's Office says the guy who comes crashing out of his ceiling into the waiting arms of SWAT officers is 37-year-old Keith Rodgers ... and he'd barricaded himself in his home and taken refuge in the attic after deputies confronted him about driving a truck that was reported stolen.

The sheriff says Rodgers fell through the ceil

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