I am trying to connect two inner tcolorboxes with a arrow.
I have also seen this and this answer, unfortunately it was not helpful with my problem.
A minimum example is below. I am grateful for any help. It should be noted that I would like to find a solution that does not require the manual setting of coordinates, since the target diagrams are complex. Each node has its own height, only the width of the nodes is constant 
\documentclass[tikz]{standalone}
\usepackage[most]{tcolorbox}
\usepackage{tikz}
\usetikzlibrary{arrows.meta,positioning}
\newtcolorbox{rosnode}[1]{
colback=white!85!gray,
colframe=gray,
coltitle=white,
boxrule=2pt,
halign=center,
valign=center,
sharp corners=all,
center title,
% lower separated=false,
width=5cm,
title={#1}
}
\newtcolorbox{rosservice}[1]{
colback=white!85!gray,
colframe=gray,
coltitle=white,
boxrule=2pt,
halign=center,
valign=center,
arc=0.4mm,
center title,
% lower separated=false,
left skip=-0.3cm,
right skip=-0.3cm,
title={#1}
}
\begin{document}
\begin{tikzpicture}[node distance=1cm, every node/.style={inner sep=0,outer sep=0}]
\node(Node1) {
\begin{rosnode}{Node1}
Box 1 longer text text text text text
\begin{rosservice}{InnerBox1}
Box text
\end{rosservice}
\end{rosnode}
};
\node(Node2) [right=of Node1] {
\begin{rosnode}{Node2}
Box 2 text
\begin{rosservice}{InnerBox2}
Box text
\end{rosservice}
\end{rosnode}
};
\draw[gray,line width=0.8mm,-{Triangle[angle=60:1pt 3]}] (Node1) -- (Node2);
\end{tikzpicture}
\end{document}
