>>>If i go with the error message "XIServer:NO_MAPPINGPROGRAM_FOUND:", seems like there is no transformation.
Do you have any mapping defined in ESR to translate SOAP request into IDOC format?
>>>I look at Moni and I have 3 messages but I don't see the response like what was stated in the blog.
As you have configured the interfaces as async, you don't see any response. However i believe your request itself is not being sent to receiver.
You can find lot of threads discussing about the "XIServer:NO_MAPPINGPROGRAM_FOUND" issue. Go through them and if you believe your configuration is valid, then do a Full cache refresh and see if that helps.