Sitemap generating incorrect links

[parnison]

I have used the google sitemap plugin to generate a sitemap however the links it is generating do not work. one of the links it generates is however if you try to visit that page it returns a 404 error

 

https://www.boundarycarcare.co.uk/shop/construction-sites/9-now-entering-designated-area.html

 

The actual URL when i search the shop for that product is

 

https://www.boundarycarcare.co.uk/shop/index.php?id_product=9&controller=product&search_query=9-now-entering-designated-area&results=34

 

I am presuming i have an error with how the urls are configured but can't work out how to change it to show the clean url so that it works.

 

Can anyone help?