The inverter idea is a good one, you can also find an appropriate load, like a 12V 10A draw spotlight for testing say a 100AH battery, and connect that in conjunction with a voltmeter. Check the voltage before you attach the spotlight and then note it in a book at regular intervals of 5 or 10 minutes say. Time V voltage. That will give you an idea of what the battery is like but a full test, down to say 70% would take a while.
Obviously for a 20Ah battery you would use something like one or two, 2-Amp bulbs. Never use too big a load, good way to damage a deep cycle. There are discharge curves online for many batteries BTW.
Here is one chart, the C rating refers to the amount of current drawn compared to the AH rating of the battery, the lower the figure the better for the battery BTW. C=1 would be like a 20 amp drain on a 20AH battery, something I would never do unless it was a LIPO so be careful not to kill those babies
A battery c rating is used to find out what is the max safe continuous discharge rate and how long it will handle that discharge. Formulas explained
www.batteriesinaflash.com