Yes Sruthi,
You can create it without bypassing ESR too ( it is not recommended as you can achieve it without ESR with dummy interface, saving time and space)
How to do with ESR -
create 1 Data Type and 1 Mesg type, Create Outbound Service Interface and Inbound Service Interface and use the same msg type in both of them.
Now no need to create mapping, use these 2 SI in ICO and your scenario will work.
Regards,
Vikas
