Dynamic friction slip of rock joint is prevalent in seismic wave propagation and plate sliding. At present, great attention has been paid to revealing the sliding friction characteristics under large displacement, but the related characteristics at initial stage of friction-slip are seldom studied. The measurement techniques including the multi-point acoustic emission method and the infrared temperature method are established based on the modified split Hopkinson pressure device (SHPB), and the characteristics of acoustic emission and heat production at initial stage of friction sliding on the joint surfaces with five joint angles are investigated. The results show that wave profiles corresponding to the wave-induced micro slip is located at the higher frequency domain of the acoustic emission signals, e.g., frequencies ranging from 78.1kHz to 312.5kHz for granite specimens with size 50×50×50mm³. While the signal measured at the lower frequency domain originates from the disturbances impacting the interface. Wave profiles corresponding to the heat radiation information is located at the lower frequency domain in the temperature signals, and the measured amplitudes of elevated temperature of five joint surfaces are obviously lower. To reveal the intrinsic rules of these measured signals, a reasonable analysis model based on the numerical method is established. The numerical results show that with increasing the joint angle, the joint surface slides more easily, and the amplitude of elevated temperature on the joint surface increases, which is always lower than 0.1℃. The calculations are in good agreement with the experimental results.