Didn't found it in Google, so there is quick example how to send JMS message from Groovy script using Grab:
@Grab(group='org.apache.activemq',module = 'activemq-all', version='5.5.0')
import org.apache.activemq.ActiveMQConnectionFactory
import javax.jms.Session
new ActiveMQConnectionFactory(brokerURL: 'tcp://localhost:61616').createConnection().with {
start()
createSession(false, Session.AUTO_ACKNOWLEDGE).with {
createProducer().send(createQueue("queue"), createTextMessage("test"))
}
close()
}