Rudi Johnson recorded a video message encouraging kids to "shoot for the stars" and "never give up" ... just days before he died by suicide.
The ex-NFL star delivered the heartfelt note as part of an acceptance speech for his induction into the Chesterfield Sports Hall of Fame's Class of 2025.
Johnson -- who an official said could not make the Sept. 18 ceremony due to previous commitments -- thanked all his former teammates and coaches in a vid that was played at the Chester, Va. festivities ... before he turned his attention toward the youth.