The mechanism for publishing in-process notifications and bus messages is identical across messaging providers — only the registration changes. If you’ve read Publish to Service Bus, the only difference is the package and the Add… call.
Register Memoria.Messaging.RabbitMq instead of Service Bus — see Configuration: RabbitMQ. Everything else (the CommandResponse shape, SendAndPublish, the success short-circuit) is unchanged.
For a worked example of the command/handler/dispatch pattern, see Publish to Service Bus.