Or are they synonyms?
Wikipedia is usually great for these purposes.
RPC:
Remote procedure call (RPC) is an Inter-process communication technology that allows a computer program to cause a subroutine or procedure to execute in another address space (commonly on another computer on a shared network) without the programmer explicitly coding the details for this remote interaction.
IPC:
Inter-process communication (IPC) is a set of techniques for the exchange of data among multiple threads in one or more processes. Processes may be running on one or more computers connected by a network.
So, RPC is just one kind of IPC.