There's a large difference.
On rap forums, verses are supposed to rhyme and be either hip hop or literary, complementing the format with your style. The main objective is to rhyme.
With poetry, rhyming literally does not matter at all. It's optional. This is what sets it apart from verses quite distinctly and significantly. There is far less of a "hip hop" umbilical cord with poetry. It can be disconnected from all types of music, and still stand on its own. With verses, it's hard to do that because rap, as an art form, caters to the traditional elements that it was built upon. Poetry is a much more archaic art, more open to interpretation and variables during execution.
This is my view of the difference.
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