There're two aspects:
RPC among components of a single openstack module. Take Nova for example, AMQP is underneath RPC implementation in pub/sub paradigm. Refer AMQP and Nova
RPC among openstack modules. It is the communication across different modules to serve user requests like how nova, glance and neutron work together when booting a virtual machine. it uses exposed module API to do inter-module communication. for example, it depends on both Neutron API client and Glance API client in nova.