Category.php

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<?php
namespace Magento\Sitemap\Model\ItemProvider;

use Magento\Sitemap\Model\ResourceModel\Catalog\CategoryFactory;
use Magento\Sitemap\Model\SitemapItemInterfaceFactory;

class Category implements ItemProviderInterface
{
    private $categoryFactory;

    private $itemFactory;

    private $configReader;

    public function __construct(
        ConfigReaderInterface $configReader,
        CategoryFactory $categoryFactory,
        SitemapItemInterfaceFactory $itemFactory
    ) {
        $this->categoryFactory = $categoryFactory;
        $this->itemFactory = $itemFactory;
        $this->configReader = $configReader;
    }

    public function getItems($storeId)
    {
        $collection = $this->categoryFactory->create()
            ->getCollection($storeId);

        $items = array_map(function ($item) use ($storeId) {
            return $this->itemFactory->create([
                'url' => $item->getUrl(),
                'updatedAt' => $item->getUpdatedAt(),
                'images' => $item->getImages(),
                'priority' => $this->configReader->getPriority($storeId),
                'changeFrequency' => $this->configReader->getChangeFrequency($storeId),
            ]);
        }, $collection);

        return $items;
    }
}