At TVbeat we run this on a cron within each of our cloudformation stacks.
R53 records look like zookeeper-staging.example.com
ansible :) & awscli: sudo pip install awscli
ec2:DescribeInstances
{"Statement":[{"Resource":["*"],"Action":["ec2:DescribeInstances"],"Effect":"Allow"}]}
autoscaling:DescribeAutoScalingGroups
{"Statement":[{"Resource":["*"],"Action":["autoscaling:DescribeAutoScalingGroups"],"Effect":"Allow"}]}
route53:*
{"Statement":[{"Resource":["*"],"Action":["route53:*"],"Effect":"Allow"}]}