How to create dynamic sitemap in Codeigniter

public function sitemap()
{
    $this->load->helper('url');
    
    // Define your URLs here
    $urls = array(
        site_url('home'),
        site_url('about'),
        site_url('contact')
    );
    
    // Load the XML library
    $this->load->library('xml');
    
    // Create the XML document
    $xml = new SimpleXMLElement('<urlset/>');
    
    // Add each URL to the XML document
    foreach ($urls as $url) {
        $urlNode = $xml->addChild('url');
        $urlNode->addChild('loc', $url);
        $urlNode->addChild('changefreq', 'daily');
        $urlNode->addChild('priority', '1.0');
    }
    
    // Output the XML file
    header('Content-type: text/xml');
    echo $xml->asXML();
}