Though a "condo" is technically a legal structure, in Canada in generally refers to a self-owned 'apartment' with-in a tower of some height. Colloquially 'townhouses' are house-looking structures in a common development.
Fully- or semi-detached generally means a freehold property without any links to any kind of other legal entity (besides the municipality). 'Semi' means that there is a shared wall between two structures, but they are legally independent lots.