The physics performance of the barrel RPC system of the HARP experiment is described. In the barrel two sets of fifteen identical resistive plate chambers (RPCs) have been operated in 2001 and 2002 as a part of the HAR P experiment at the CERN PS accelerator. For the first time under real experimental conditions RPCs have bean applied for particle identification (PID) by measuring the particle's time-of-flight (ToF). The procedure developed for the RPC calibration, based on reconstructed tracks in the HARP Time Projection Chamber (TPC), is described in detail. Intrinsic RPC time resolutions of 141 ps and a combined time resolution of the large angle TOF system of 180 ps are obtained. The effective resolution of the comparison of predicted and measured ToF is 305 ps in the region of interest for this experiment. The PID capabilities of the system are demonstrated. An average efficiency of the RPC counters of about 97 % is measured.