Hi

You can do it just by adding group into action record

For example by Interface you can do it by access Setting->Technical->Window Actions menu, and search for "Send SMS"

Then you can add some group that granted to access that following action in "Group" tab (picture below)

And if you understand to updating record from xml file, surely you can do it so by xml file (for developer user)

For example:

<record model="ir.actions.act_window" id="sms.send_sms_action">
    <field name="groups_id" eval="[(4,ref('base.group_private_addresses'))]" />
</record>

Regards
La Jayuhni Yarsyah