How to create a sitemap in codeigniter?

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<?php
defined('BASEPATH') OR exit('No direct script access allowed');

class Sitemap extends CI_Controller {

    public function index()
    {
        $data = array(
            'urls' => array(
                site_url('home'),
                site_url('about'),
                // Add more URLs here
            )
        );

        $this->output->set_output($this->load->view('sitemap', $data, TRUE));
    }

}

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<?php echo '<?xml version="1.0" encoding="UTF-8"?>'; ?>
<urlset xmlns="http://www.sitemaps.org/schemas/sitemap/0.9">
    <?php foreach ($urls as $url): ?>
        <url>
            <loc><?php echo $url; ?></loc>
        </url>
    <?php endforeach; ?>
</urlset>

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$route['sitemap.xml'] = 'sitemap';