Mapping agents and RP Routers

Is it mandotary that RP router different form RP mapping agent router ? (i.e is there any that same router can act as RP and mapping agent as well ?)
RouterAgent#(config)ip pim send-rp-discovery scope ttl

As you know that Auto-RP defines two roles in the
PIM domain, the candidate-RP and the mapping agent. The candidate RP uses multicast messages to dvertise itself to the mapping agent.
The mapping agent advertises itself through multicast
messages, and is responsible for group to RP mappings.
Now if RP router also acting as a mapping agent, does RP still use multicast messages to advertise itself to the mapping agent (i.e in the case it will advertise messages to itself) ?

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