GLS have been doing this for a good while now although they can be quite expensive. It does take the hassle out of sitting around for a pick up/ collection all day....

If you were sending a few parcels from time to time its worth contacting your local fastway driver and buying delivery tickets. They work out around 8 euro each within Ireland with a weight limit of 25kg and up to 2.1m in size. Also insurance is covered up to 450 euro.

I haven't used parcelmotel but it seems to be the cheapest way from the UK.