Yes and no. They are often used interchangeably, but "taler" is slightly more formal or correct, whereas "snakker" could convey the flavor of noisy/ inorganised/ foolish talk . Some would say "mennesker taler og papegøjer snakker" (humans versus parrots). "snakker" could be a little derogatory like "som du dog snakker" (oh, how you are talking). On the other hand, many would find this pedantic and you won't be frowned upon for using either word.