I've been searching for this error and nothing really answers how I can fix it with my CloudFormation template. From the events log, I can see that the role was created before the Lambda functions.
Could you please help?
You are probably missing an AssumeRolePolicyDocument allowing Lambda (lambda.amazonaws.com) to assume your IAM role.
Example:
...
"LambdaRole": {
"Type": "AWS::IAM::Role",
"Properties": {
"AssumeRolePolicyDocument": {
"Version": "2012-10-17",
"Statement": [{
"Effect": "Allow",
"Principal": {"Service" : "lambda.amazonaws.com"},
"Action": ["sts:AssumeRole"]
}]
},
"Path": "/",
"Policies": [...]
}
}
...
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