pipeline-aws-plugin of cfnUpdate trows WaiterUnrecoverableException
You are closing the "params" array, but you are not opening it. Try this:
cfnUpdate(stack:"${stack}", url:"${urlTemplate}", params: ['roleName':"${roleName}",'bucket':"${bucket}",'pathS3':"${pathS3}",'handler':"${handler}"],timeoutInMinutes:10)