AWS CloudFormation Template for SQS - EventBridge Pipes - Lambda Integration https://dev.classmethod.jp/articles/consistent-consumer-pipelining-with-eventbridge-pipes/

aws-cfn-for-sqs-pipes-lambda.yaml

---
Resources:
  QueueForPipe:
    Type: AWS::SQS::Queue
  LambdaServiceRole:
    Type: AWS::IAM::Role
    Properties:
      AssumeRolePolicyDocument:
        Statement:
        - Action: sts:AssumeRole
          Effect: Allow
          Principal:
            Service: lambda.amazonaws.com
        Version: '2012-10-17'
      ManagedPolicyArns:
      - Fn::Join:
        - ''
        - - 'arn:'
          - Ref: AWS::Partition
          - ":iam::aws:policy/service-role/AWSLambdaBasicExecutionRole"
  LambdaForPipe:
    Type: AWS::Lambda::Function
    Properties:
      Code:
        ZipFile: |-
          def handler(event, context):
              for record in event:
                  print(record['body'])
      Handler: index.handler
      Role:
        Fn::GetAtt:
        - LambdaServiceRole
        - Arn
      Runtime: python3.11
    DependsOn:
    - LambdaServiceRole
  PipeRole:
    Type: AWS::IAM::Role
    Properties:
      AssumeRolePolicyDocument:
        Statement:
        - Action: sts:AssumeRole
          Effect: Allow
          Principal:
            Service: pipes.amazonaws.com
        Version: '2012-10-17'
  PipeRoleDefaultPolicy:
    Type: AWS::IAM::Policy
    Properties:
      PolicyDocument:
        Statement:
        - Action:
          - sqs:ChangeMessageVisibility
          - sqs:DeleteMessage
          - sqs:GetQueueAttributes
          - sqs:GetQueueUrl
          - sqs:ReceiveMessage
          Effect: Allow
          Resource:
            Fn::GetAtt:
            - QueueForPipe
            - Arn
        - Action: lambda:InvokeFunction
          Effect: Allow
          Resource:
          - Fn::GetAtt:
            - LambdaForPipe
            - Arn
          - Fn::Join:
            - ''
            - - Fn::GetAtt:
                - LambdaForPipe
                - Arn
              - ":*"
        Version: '2012-10-17'
      PolicyName: PipeRoleDefaultPolicy
      Roles:
      - Ref: PipeRole
  Pipe:
    Type: AWS::Pipes::Pipe
    Properties:
      RoleArn:
        Fn::GetAtt:
        - PipeRole
        - Arn
      Source:
        Fn::GetAtt:
        - QueueForPipe
        - Arn
      Target:
        Fn::GetAtt:
        - LambdaForPipe
        - Arn
      TargetParameters:
        LambdaFunctionParameters:
          InvocationType: REQUEST_RESPONSE

aws-sqs-eventbridge-pipes-lambda.png