We can make use of the aws sns publish command on the AWS CLI to send a message to an AWS SNS topic.
Example:
% aws sns publish
--topic-arn arn:aws:sns:us-east-1:107xx89xx9xx:smsTopic
--message "Learning AWS SNS"
-------------------------------------------------------
| Publish |
+-----------+-----------------------------------------+
| MessageId| 141997xx-8c80-5bxx-8ff3-cacxx6xx7508 |
+-----------+-----------------------------------------+

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