In the T.V. Show no.
In the manga: YES
There is a story written in the manga about when Future Trunks fights buu.
(They also made it into a psp game Dragonball Z shin Budokai another road)
Spoiler:Trunks goes back in time again(right after buu was defeated by the Z fighters) and brings them to his future to help him fight buu. The kais also suggest to Trunk to go to the other world and recruit some fighters. While in the other world Trunks and recruits Bardock Gohan and Picon. When he takes them to the Z fighters Goku finally meets his father.
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Goku never meets Bardock.
I don't think they ever meet.
The answer is........................................... simply no. Goku knows Super Saiyan 1,2,3, and 4, and Bardock never knew any of those.
Yes. He did in a sense where the Bardock defeated in the movie Bardock the farther of Goku. Where the alien gave bardock the ability of foresight where he was able to look into the future of his son fighting for good against frieze. They have a small conversation but thought out the Dragon Ball Z series it doesn't become relevant.
good bye my son and good look in completing your mission