diff --git a/src/joint_state_printer.py b/src/joint_state_printer.py
new file mode 100755
index 0000000..82fb2f0
--- /dev/null
+++ b/src/joint_state_printer.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+
+
+# Import ROS Python basic API and sys
+import rospy
+import sys
+
+# We're going to subscribe to 64-bit integers, so we need to import the defintion
+# for them.
+from sensor_msgs.msg import JointState
+
+
+# This is a function that is called whenever a new message is received.  The
+# message is passed to the function as a parameter.
+def callback(msg):
+	"""
+	Callback function to deal with incoming messages.
+	:param msg: The JointState message.
+	"""
+	names = list(msg.name)
+	positions = list(msg.position)
+	# The value of the integer is stored in the data attribute of the message.
+	joints = ["joint_arm_l0", "joint_arm_l1", "joint_arm_l2", "joint_lift" ]
+
+	joint_positions = []
+
+	for i in range(len(joints)):
+		index = names.index(joints[i])
+		joint_positions.append(positions[index])
+
+	print(joint_positions)
+	rospy.signal_shutdown("done")
+	sys.exit(0)
+
+
+
+if __name__ == '__main__':
+	# Initialize the node.
+	rospy.init_node('joint_sate_printer', anonymous=True)
+
+	# Set up a subscriber.  We're going to subscribe to the topic "counter",
+	# looking for Int64 messages.  When a message comes in, ROS is going to pass
+	# it to the function "callback" automatically.
+	# for i in range()
+	subscriber = rospy.Subscriber('joint_states', JointState, callback)
+
+	# Give control to ROS.  This will allow the callback to be called whenever new
+	# messages come in.  If we don't put this line in, then the node will not work,
+	# and ROS will not process any messages.
+	rospy.spin()