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I don't see any reason your template shouldn't work, but a simpler way than using str_replace would be to define an input to your software config and pass the value to the deployment:

 get_ip:
    type: OS::Heat::SoftwareConfig
    properties:
      group: script
      inputs:
        - name: minion_group_ip
      config: 
          #!/bin/bash
          echo ${minion_group_ip} > /opt/ip.txt

 deployment:
    type: OS::Heat::SoftwareDeployment
    properties:
      signal_transport: HEAT_SIGNAL
      config: {get_resource: get_ip}
      server: {get_resource: master}
      input_values:
        minion_group_ip: {get_attr: [minion_group, first_address]}