Sunan Abi Dawud Book 2, Hadith 147
Bilal would call the Adhan, then he used come to wait. When he would see that the prophet (ﷺ) had come out (of his house), he would pronounce the iqama.
we were sitting with Abu Hurairah in the mosque. A man went out of the mosque after the ADHAN for the afternoon prayer had been called. Abu Hurairah said: As regards this (man), he disobeyed Abu al-Qasim, the prophet (ﷺ).
Mujahid reported: I was in the company of Ibn Umar. A person invited the people for the noon or afternoon prayer (after the adhan had been called). He said: Go out with us (from this mosque) because this is an innovation (in religion).