Mavlink message sizes

I have a pixhawk with a companion computer connected through telem2 and publishing everything using mavros over a wifi link. I’m trying to get an estimate of the bandwidth used with this configuration but I can’t find mavlink message sizes (and I haven’t search yet the overhead of using ROS, maybe it’s convenient to use MAVESP?). So, is there some documentation that shows these sizes? maybe some source code? Can I just measure mavros bandwidth using ros? Thanks :slight_smile: