Sitemap.xml for SEO

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Hi Certforumers !

I'm after creating a sitemap.xml automatically for a large website. Unfortunately I don't have alot of time or any funds to do it, so really I want a free and effective solution.

The general outline is here :-
https://www.google.com/webmasters/tools/docs/en/protocol.html
http://www.xml-sitemaps.com/

The site is a dynamic site.

So far all I've really found is :-

1. Commercial Products
2. Open source products with poor URL parsing functionality.
3. Scripts that require a static offline copy of the site.

The site has a number of subdomain microsites which ideally i'd also like to include in the output sitemap.xml.

Any input greatly appreciated !

thanks

Dave