Not really- but there are unique caveats; the local accessor will determine the value of the home or condo; from my experience if they are both residential properties they will not be taxed differently.
However some condo communities have their trash picked up by private contractors, or their private drives into the community plowed in the winter by hired contractors -not the town. Taxes will be adjusted accordingly.
For instance I had to buy a new sofa- the town would have picked it up free of charge if I had lived in a single family home- because I live in a condo community, I have to pay $35 to have the sofa picked up, since our trash pickup is not included in the tax rate- but in the condo fee. Sadly to say our self managed association will not pay me for the pick up charge.
Every condo community will be different- some will have the town pick up trash, and others like mine, no. If considering a condo/townhouse check into what the association is responsible for. If the trash pick up and road maintenance is private- the town will usually give you a slight reduction in your taxes.