You need the programmer, also with the *ICP* CDI-pcb.
BUT, on the ICP CDI-pcb will be a connector for the RCD-programmer.
You only have to put 4 wires on the ICP- CDI-pcb to program the pic.
You have to use the batterie voltage of you CDI-powersupply and NOT the voltage of the RCD-programmer.

You can also program the pic without the ICP CDI-pcb.
But......you stil need a powersupply becourse your programmer don't have enough voltage to programm the pic's.
Thats not the fault of the programmer, but from your computer.