What is the difference between 聞く and 聴く?

Sometimes in Japanese, there are characters that basically mean the same thing, and have the same reading, but are used in different contexts. 聞く （きく） means to hear, or ask, and is used for daily situations. For example 音楽を聞いた。 (I listened to music). In contrast 聴く (きく)(which also means to hear, or ask) tends to carry more emotional, literary meanings. For example 国民の声を聴いた。 (I heard the voice of the nation). There is no clear definition as to when the two characters should be used, and even Japanese people struggle to know when to use each character. However it is important to learn that 聴く carries much more emotional nuances.