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()
    {
        // Load necessary helpers and libraries
        $this->load->helper('url');
        $this->load->dbutil();

        // Get all necessary data for sitemap
        $data['pages'] = $this->db->get('pages')->result();
        $data['posts'] = $this->db->get('posts')->result();

        // Create an XML sitemap string
        $sitemap = '<?xml version="1.0" encoding="UTF-8"?>';
        $sitemap .= '<urlset xmlns="http://www.sitemaps.org/schemas/sitemap/0.9">';

        // Add URLs for pages
        foreach ($data['pages'] as $page) {
            $sitemap .= '<url>';
            $sitemap .= '<loc>'.site_url($page->slug).'</loc>';
            $sitemap .= '<lastmod>'.date("c", strtotime($page->updated_at)).'</lastmod>';
            $sitemap .= '</url>';
        }

        // Add URLs for posts
        foreach ($data['posts'] as $post) {
            $sitemap .= '<url>';
            $sitemap .= '<loc>'.site_url('posts/'.$post->id).'</loc>';
            $sitemap .= '<lastmod>'.date("c", strtotime($post->updated_at)).'</lastmod>';
            $sitemap .= '</url>';
        }

        $sitemap .= '</urlset>';

        // Set the content-type header and output the sitemap
        header("Content-type: text/xml");
        echo $sitemap;
    }
}