Millimeter-wave (mmWave) massive multiple-input multiple-output (MIMO) systems have been considered as one of the primary candidates for the fifth generation (5G) and beyond 5G wireless communication networks to satisfy the ever-increasing capacity demands. Full-duplex technology can further enhance the advantages of mmWave massive MIMO systems. However, strong self-interference (SI) is the major limiting factor in full-duplex technology. Hence, this paper proposes a novel angular-based joint hybrid precoding/combining (AB-JHPC) technique for the full-duplex mmWave massive-MIMO systems. Our primary goals are listed as: (i) improving the self-interference cancellation (SIC), (ii) increasing the intended signal power, (iii) decreasing the channel estimation overhead, (iv) designing the massive MIMO systems with a low number of RF chains. First, the RF-stage of AB-JHPC is developed via slow time-varying angle-of-departure (AoD) and angle-of-arrival (AoA) information. A joint transmit/receive RF beamformer design is proposed for covering (excluding) the AoD/AoA support of intended (SI) channel. Second, the BB-stage of AB-JHPC is constructed via the reduced-size effective intended channel. After using the well-known singular value decomposition(SVD) approach at the BB-stage, we also propose a new semi-blind minimum mean square error (S-MMSE) technique to further suppress the residual SI power by using AoD/AoA parameters. The numerical results demonstrate that the SI signal is remarkably canceled via the proposed AB-JHPC technique. It is shown that AB-JHPC achieves 85.7 dB SIC and the total amount of SIC almost linearly increases via antenna isolation techniques. We observe that the proposed full-duplex mmWave massive MIMO systems double the achievable rate capacity compared to its half-duplex counterpart as the antenna array size increases and the transmit/receive antenna isolation improves.