Roarke appeared in a number of television series during the late 1950s and early 1960s, including the role of Communications Officer Garrison in the original Star Trek pilot.
In 1974, Roarke appeared in the financially successful car chase film Dirty Mary, Crazy Larry, with Fonda and Susan George, a role which showcased his range of acting skills.
At the time, Texas had a burgeoning movie industry—billing itself as the "Third Coast"—but lacked any real opportunities for aspiring film actors to learn their craft from industry veterans.
Recognizing this need, Roarke opened the "Film Actors Lab" in the Dallas Communications Complex at the Studios in Las Colinas.
"Graduates" of his program include Darryl Cox, Georganna Barry, Benton Jennings, Lar Park Lincoln and Lou Diamond Phillips.