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XML Sitemaps can be generated by running sbin/pycsw-admin.py:
$ cd /path/to/pycsw
$ export PYTHONPATH=`pwd`
$ python ./sbin/pycsw-admin.py -c gen_sitemap -f default.cfg -o sitemap.xml
The sitemap.xml file should be saved to an an area on your web server (parallel to or above your pycsw install location) to enable web crawlers to index your repository.