The easiest way to do what you want is to make use of the onClick attribute.
Add this attribute to your Button element:
android:onClick="sendSMS"
Android will then try to call a sendSMS method in your activity. It takes a View as a parameter (which will be set to the view you clicked) so you need to change your method to:
public void sendSMS(View view)
This is all covered in the documentation here:
http://developer.android.com/guide/topics/ui/controls/button.html
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