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Hi. I recommend you enable IoT logging and look for the RuleExecution
event type: https://docs.aws.amazon.com/iot/latest/developerguide/diagnosing-rules.html
This will confirm or deny whether your rule is running, and tell if you if it's suffering any errors when executing the Lambda action.
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can you try put '#' as topic in the rule and SELECT * FROM "#" and see if the lambda will run. '#' covers all topics. This will tell if rule is being executed.