diff --git a/test/spell_check.words b/test/spell_check.words
index d20de34..b5f6f99 100644
--- a/test/spell_check.words
+++ b/test/spell_check.words
@@ -17,6 +17,7 @@ deps
 descs
 dpkg
 dsetuptools
+foobar
 github
 https
 iterdir
diff --git a/test/test_package_identification_ros.py b/test/test_package_identification_ros.py
new file mode 100644
index 0000000..80f5106
--- /dev/null
+++ b/test/test_package_identification_ros.py
@@ -0,0 +1,109 @@
+# Copyright 2016-2018 Dirk Thomas
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+# Licensed under the Apache License, Version 2.0
+
+from pathlib import Path
+from tempfile import TemporaryDirectory
+
+from colcon_core.package_descriptor import PackageDescriptor
+from colcon_core.package_identification import IgnoreLocationException
+from colcon_ros.package_identification.ros import _cached_packages
+from colcon_ros.package_identification.ros import RosPackageIdentification
+import pytest
+
+
+def test_identify():
+    extension = RosPackageIdentification()
+    augmentation_extension = extension
+
+    with TemporaryDirectory(prefix='test_colcon_') as basepath:
+        desc = PackageDescriptor(basepath)
+        desc.type = 'other'
+        assert extension.identify(desc) is None
+        assert desc.name is None
+
+        _cached_packages.clear()
+        desc.type = None
+        assert extension.identify(desc) is None
+        assert desc.name is None
+        assert desc.type is None
+
+        _cached_packages.clear()
+        basepath = Path(basepath)
+        for marker in ('AMENT_IGNORE', 'CATKIN_IGNORE'):
+            marker_path = basepath / marker
+            marker_path.touch()
+            with pytest.raises(IgnoreLocationException):
+                extension.identify(desc)
+            marker_path.unlink()
+
+        _cached_packages.clear()
+        (basepath / 'package.xml').write_text(
+            '<package format="3">\n'
+            '  <name>pkg-name</name>\n'
+            '  <version>0.0.0</version>\n'
+            '  <description>test package</description>\n'
+            '  <maintainer email="foobar@example.com">Foo Bar</maintainer>\n'
+            '  <license>Apache-2.0</license>\n'
+            '</package>\n')
+        assert extension.identify(desc) is None
+        assert desc.name == 'pkg-name'
+        assert desc.type == 'ros.catkin'
+        assert not desc.dependencies
+        assert not desc.metadata
+
+        augmentation_extension.augment_packages([desc])
+        assert desc.metadata['version'] == '0.0.0'
+        # TODO: This is a behavior deviation from colcon-core
+        # assert set(desc.dependencies.keys()) == {'build', 'run', 'test'}
+        assert not desc.dependencies['build']
+        assert not desc.dependencies['run']
+        assert not desc.dependencies['test']
+
+        _cached_packages.clear()
+        desc = PackageDescriptor(basepath)
+        (basepath / 'package.xml').write_text(
+            '<package format="3">\n'
+            '  <name>other-name</name>\n'
+            '  <version>0.0.0</version>\n'
+            '  <description>test package</description>\n'
+            '  <maintainer email="foobar@example.com">Foo Bar</maintainer>\n'
+            '  <license>Apache-2.0</license>\n'
+            '  <buildtool_depend>build</buildtool_depend>\n'
+            '  <buildtool_export_depend version_gt="1.2.3">'
+            'runA</buildtool_export_depend>\n'
+            '  <test_depend>test</test_depend>\n'
+            '  <exec_depend>runB</exec_depend>\n'
+            '  <export>\n'
+            '    <build_type>ament_cmake</build_type>\n'
+            '  </export>\n'
+            '</package>\n')
+        assert extension.identify(desc) is None
+        assert desc.name == 'other-name'
+        assert desc.type == 'ros.ament_cmake'
+        assert not desc.dependencies
+        assert not desc.metadata
+
+        augmentation_extension.augment_packages([desc])
+        assert desc.metadata['version'] == '0.0.0'
+        assert set(desc.dependencies.keys()) == {'build', 'run', 'test'}
+        assert desc.dependencies['build'] == {'build'}
+        assert desc.dependencies['run'] == {'runA', 'runB'}
+        dep = next(x for x in desc.dependencies['run'] if x == 'runA')
+        assert dep.metadata['version_gt'] == '1.2.3'
+        assert desc.dependencies['test'] == {'test'}
+
+        assert desc.metadata['maintainers'] == ['Foo Bar <foobar@example.com>']
+
+        _cached_packages.clear()
+        desc = PackageDescriptor(basepath)
+        (basepath / 'manifest.xml').touch()
+        assert extension.identify(desc) is None
+        assert desc.type == 'ros.ament_cmake'
+
+        _cached_packages.clear()
+        desc = PackageDescriptor(basepath)
+        (basepath / 'package.xml').unlink()
+        with pytest.raises(IgnoreLocationException):
+            extension.identify(desc)
+        (basepath / 'manifest.xml').unlink()