Services talked about here:
SMS: Short Message Service, most widely available
MMS: Multimedia Messaging Service
RCS: Rich Communication Services, by Android Messages app.

Two questions answered here:

Do they require data? If yes, do carriers charge?
SMS: no
MMS: yes, but no charge on Android
RCS: yes, but no charge on Fi

Do they require app specific ID, e.g. email, other than just a phone number?
This is significant, because not requiring app specific ID means different apps can share data.
As seen below, they can talk to each other, e.g Google Messages can talk to iMessage, but not to LinkedIn or Facebook or Wechat
SMS: No
MMS: No
RCS: No


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