dom = xml.dom.minidom.parse('docmap.xml')

def getChildrenByTitle(node):
    for child in node.childNodes:
        if child.localName == 'Title':
            yield child
Topic = dom.getElementsByTagName('Topic')
for node in Topic:
    alist = getChildrenByTitle(node)
for a in alist:
    Title = a.childNodes[0].nodeValue
print(Title)
Разбор XML с помощью Python и minidom