use strict;

use DBI;
use File::Basename;
use XML::Generator::DBI;
use XML::Handler::YAWriter;

my $dir   = '.';
my $file  = 'foo.csv';
my $table = (fileparse($file,'.csv'))[0];
my $cols  = [qw(name id date)];
my $sep   = ',';

my $dbh = DBI->connect(
   "DBI:CSV:f_dir=$dir;csv_eol=\n;csv_sep_char=$sep;",
   {RaiseError=>1},
);

$dbh->{csv_tables}->{$table} = { 
   file      => $file,
   col_names => $cols,
};

my $ya = XML::Handler::YAWriter->new(AsFile => "-");
my $generator = XML::Generator::DBI->new(
   Handler => $ya,
   dbh     => $dbh,
   Indent  => 1,
);

$generator->execute("select * from $table");
[download]

UPDATE:
Silly /me - XML::CSV:

perl -MXML::CSV -e '$o=XML::CSV->new;$o->parse_doc(shift,{headings=>sh
+ift});$o->print_xml' no_headings.csv

perl -MXML::CSV -e '$o=XML::CSV->new;$o->parse_doc(shift,{headings=>sh
+ift});$o->print_xml' headings.csv 1
[download]

jeffa

L-LL-L--L-LL-L--L-LL-L--
-R--R-RR-R--R-RR-R--R-RR
B--B--B--B--B--B--B--B--
H---H---H---H---H---H---
(the triplet paradiddle with high-hat)