What is the status of the practice of celebratings urs of the dead sufi saints? Was this practice conventional during the lifetime of the Prophet (sws)? What did the Prophet (sws) use to do when he visted graves? Did the Khulafa-e Rashideen celebrate any urs for the Prophet (sws) after his passing away?
The ideas of urs etc are product of the sufi doctrine that with their death humans join their primal origin, the God Almighty. That is why they celebrate the urs which literally means marriage and union. The Prophet (sws) and the Companions (rta) never celebrated urses.
The Prophet (sws) would only pray for the dead when passing by graveyards.