As previously mentioned, you could install libnotify-bin and use notify-send. However, if you're looking for an out of the box solution to send notifications, you can use d-bus:
gdbus call --session --dest org.freedesktop.Notifications --object-path /org/freedesktop/Notifications --method org.freedesktop.Notifications.Notify "YourAppName" "0" "Icon Path" "Notification Title" "Notification Message" "[]" "{}" 1500
- The "0" you see there is a "Replaces ID", which makes this notification replace another one by its ID.
- "[]" is the list of actions.
- "{}" is a map of hints.
- 1500 is the expiration timeout in milliseconds.
Example:
gdbus call --session --dest org.freedesktop.Notifications --object-path /org/freedesktop/Notifications --method org.freedesktop.Notifications.Notify "YourAppName" "0" "/usr/share/icons/Pop/32x32/devices/battery.svg" "Battery low!" "Your <u>Zune</u>'s battery is less than <b>20%</b>" "[]" "{}" 1500
You generally only care about the icon, notification title, notification body, and the expiration time, but if you want to lear more, check out the docs: https://specifications.freedesktop.org/notification-spec/notification-spec-latest.html