Find a software converter able to convert rpmsg files to pdf files.
The only way .rpmsg files can be converted to PDF format, would be if you are intended recipient with the rights to access the message and the message itself has not printing / saving restrictions set when it was send.
If you have no rights to access the message, then there is no real way how you could ever manage to convert or even access the message in Outlook.
Updated: August 15, 2016
Unfortunately, there is no detailed software record in the database for this conversion.
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