Is there any difference between 汤 and 羹?
In my opinion, 汤 is a more common to be seen. When it refers to "soup", the "soup" is thin. I mean, most ingredient is water, and you can find other things such as meat, vegetables,etc. inside the water.

羹 is a thick soup. Generally, we will add some 芡粉(qiàn fĕn)(most composition is the starch) to the soup(We call this action "勾芡(gōu  qiàn)"). The starch will absord the water, so it makes the soup "thick".