from aiogram import types
async def set_default_commands(dp):
await dp.bot.set_my_commands([
types.BotCommand("start", "Запустить бота"),
types.BotCommand("help", "Помощь"),
types.BotCommand("test", "Тест"),
types.BotCommand("form", "Форма"),
types.BotCommand("menu", "Меню"),
])
bot.send_message(callback_query.from_user.id)
callback_query.message.chat.id
, судя по документации.