Devloping the Custom IDoc - Integration sceanarios with Peoplesoft

HI All,
We are on mySAP ERP 2005 with SAP HR on the same instance box,  PI 7.0 on other instance, and need to integrate for getting the employee data from Peoplesoft into SAP HR.
I suspect that, this requirement can be fullfilled via Custom Idoc. Correct if I am wrong. plz...need ur expertise inputs for the same.
In SAP HR we are having some Infotypes. While developing the custome Idoc, each Infotype should  be added as a segment.
We are having the Standard Idoc for SAP HRMS is  HRMD_A.HRMD_A06.
In this case how to develop the custom Idoc to include all Infotypes?
Should I write the code to insert the dato from that Idoc to tables.
Please suggest me the procedure.
Regards
Sridhar Goli

And you said they are sening IDOC_XML to you through http, then how it is having namespace, it should be plain Idoc_xml
like
<?xml version="1.0" encoding="UTF-8" ?>
- <ORDERS05>
- <IDOC BEGIN="1">
- <EDI_DC40 SEGMENT="1">
  <TABNAM>EDI_DC40</TABNAM>
Can you explain or give the format to better understand.

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