Simple example how you can use AWS PHP SDK for sending and pulling messages from SQS.git
Use config.php to set your setting like region, sqs url and others.
Run this through CLI to send a message to the configured SQS queue. Optionally you can set two parameters - title and body.
php send.php "My msg title" "My body"
This script pulls messages from the queue. Simply run it with php receive.php