Are Taurus and Libras compatible signs?

In some aspects, yes. The fact that Cancer has somehwat of a "nice, moody, kind, moody" streak to them means that Libra may be able to deal with them quite well. Libras are great with people and they love gratitude; which Cancers tend to give in either small or large quantities; depending on their mood. Libras are also quite affectionate and understanding to one's needs; and affection is one of the things which Cancers often need. All in all; it can definitely work out, as long as they know each other well and what their needs and wants are.