Some of these mushrooms are known as boletes. Boletes are shaped like "normal" mushrooms, with a cap and central stem, and grow on the ground. Their texture, too, is more or less that of "normal" mushrooms. Their pore layer in particular is quite soft, and they rot easily.
The other large group of poroidmushrooms is the polypores. They mostly grow on wood, don't always have a stalk, and are often very tough and leathery, or hard and woody. They do not rot readily, often remaining undecayed to the point that algae or moss start growing on them.
Very few polypores are edible, but many of them have been used throughout history as medicine, tinder, and for ritual purposes. The famous "Ice Man" that was retrieved from a glacier a few years ago was carrying two species of polypore with him, but no other mushrooms.
For no particular reason, the poroid layer of boletes is said to be made up of tubes, while that of polypores is said to be made up of pores. The only place this distinction is observed carefully is in the literature, but it shows up occasionally in other places. For example, the german word for bolete is Röhrling, which translates something like "tubie".
Another terminological distinction is that the pore walls of polypores are technically known as dissepiments. This is a more meaningful distinction, as there is actually an anatomical difference between the pore walls of boletes and polypores. A bolete's spore-bearing layer of tissue is continuous over the entire underside of the cap, so if the tube mouths are a different color than the rest of the pore, it's because of cheilocystidia (as when gilled mushrooms have gill edges that are differently colored from the rest of the gill)