Need advice from singers in a band...how do you know if you're good?

I’ve been wanting to release some creativity lately, I feel as if I’m holding in things that I shouldn’t e.g., writing music, singing, I’ve ALWAYS wanted to start or be in a band.. The only problem is that I’ve never been in a band and I really have no idea if I’m good or not… I’ve jammed with a few bands who said that my vocals were ok but not their style, I have a deep voice that’s a bit raspy when high notes are hit, um almost kinda like…. A Hoobastank kinda sound, but of course my voice is a lot deeper and I can’t hit the high notes he does…

Anyways, I need some help, what are some good vocal exercises and what’s the best way to hear what I sound like? Should I be recording myself? Should I have people listen to me and tell me what they think? Friends are hard because they don’t want to hurt your feelings, any help would be great but I need advice so I can start pursuing something!

Thanks so much!