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http://www.yutorah.org/ has halacha shiurim on a huge range of topics, both in depth and very practical. Just click on the "halacha" tab. Highly recommended. Also http://www.kolhaloshon.com/, from the more yeshivish side of things, with lots of shiurim from R' Osher Arieli and other Ram"im in the MIr Yeshiva.
It's called שערי צבי - "Shaarey Tzvi" written by Rav Tzvi Rotter shlit"a (he is the son of the Shaaray Aharon). The book can be found here and can be partially viewed here. Hat tip to sam regarding another book with the same premise, ילקוט מלכו של עולם - "Yalkut Malko Shel Olam", information about it can be found here.
Rav Shlomo Pearl is very good. He is very relevant and brings many sources and most of his shiurim consist of actual questions asked of him.I believe he is very well versed in Hilchos Shabbas and he focuses alot on it,but he talks about all relevant topics,shabbas ,davening,Yom tov,shidduchim,yichud... ...
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