There are narrations on this topic from 'Abdullah bin Mas'ud, Ibn Abbas, and Wathilah bin AI-Asqa.
Jami` at-Tirmidhi Book 1, Hadith 148
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"A Bedouin entered the Masjid while the Prophet was sitting. He prayed, then when he was finished, he said: 'O Allah! Have mercy upon me and Muhammad, and do not have mercy on anyone along with us.' The Prophet turned, towards him and said: 'You have restricted something that is unrestricted.' It was not long before he was urinating in the Masjid. So the people rushed to him. But Prophet said: 'Pour a bucket of water over it - or - a tumbler of water over it.' Then he said: 'You have been sent to make things easy (for the people); you have not been sent to make things difficult for them.'"
Jami` at-Tirmidhi Book 1, Hadith 147 Next Hadith → the Prophet said: "Jibril (peace be upon him) led me (in Salat) twice at the House. So he prayed Zuhr the first time when the shadow was similar to (the length of) the strap a sandal. Then he prayed Asr when everything was similar (to the length of) its shadow. Then he prayed Maghrib when the sun had set and the fasting person breaks fast. Then he prayed Isha when the twilight had vanished. Then he prayed Fajr when Fajr (dawn) began, and when eating is prohibited for the fasting person. The second time he prayed Zuhr when the shadow of everything was similar to (the length of) it, at the time of Asr the day before. Then he prayed Asr when the shadow of everything was about twice as long as it. Then he prayed Maghrib at the same time as he did the first time. Then he prayed Isha, the later one, when a third of the night had gone. Then he prayed Subh when the land glowed. Then Jibril turned towards me and said: "O Muhammad! These are the times of the Prophets before you, and the (best) time is what is between these two times."
Jami` at-Tirmidhi Book 2, Hadith 1
Jami` at-Tirmidhi Book 1, Hadith 147 Next Hadith → the Prophet said: "Jibril (peace be upon him) led me (in Salat) twice at the House. So he prayed Zuhr the first time when the shadow was similar to (the length of) the strap a sandal. Then he prayed Asr when everything was similar (to the length of) its shadow. Then he prayed Maghrib when the sun had set and the fasting person breaks fast. Then he prayed Isha when the twilight had vanished. Then he prayed Fajr when Fajr (dawn) began, and when eating is prohibited for the fasting person. The second time he prayed Zuhr when the shadow of everything was similar to (the length of) it, at the time of Asr the day before. Then he prayed Asr when the shadow of everything was about twice as long as it. Then he prayed Maghrib at the same time as he did the first time. Then he prayed Isha, the later one, when a third of the night had gone. Then he prayed Subh when the land glowed. Then Jibril turned towards me and said: "O Muhammad! These are the times of the Prophets before you, and the (best) time is what is between these two times."
Jami` at-Tirmidhi Book 2, Hadith 1