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SNAPSHOT versions of artifacts only exist in our Nexus system for a limited amount of time (max 3 weeks). As we're well past that version of artifact you either have to build all the dependencies needed locally to get the SNAPSHOT, or a better option would be to checkout the tagged version which should be depending on released artifacts which do not get deleted from Nexus.

Therefore a better way of doing the clone would be:

git clone https://github.com/opendaylight/controller.git
cd controller
git checkout -b release/helium-sr4 release/helium-sr4

This will get you a checkout of the most recent helium service release which does not have SNAPSHOT versions as dependencies.