so you are receiving errors that voids are undefined? but I do not see any void declarations. Perhaps if you declared CrearPila(&simbolos); before your main program. like this:
void CrearPila(&simbolos);
int main()
{
and maybe do the same with InsertarPila(&simbolos, *aux);
undefined reference to `void CrearPila<char>(TNodoPila<char>**)
undefined reference to `void InsertarPila<char>(TNodoPila<char>**, char)
Check to see if you've actually implemented the functions.
struct TNodoPila<char> *simbolos;
CrearPila(&simbolos);
1. struct is not needed here, as this is the declaration of a pointer(not in C++, but in C)
2. This may give bad runtime errors, as simbolos is not initialized, but being dereferenced.