Ibn Abu Aufa told that they went on seven expeditions along with God's messenger and ate locusts along with him. (Bukhari and Muslim.)

وَعَن ابنِ أبي أوْفى قَالَ: غَزَوْنَا مَعَ رَسُولِ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ سَبْعَ غَزَوَاتٍ كُنَّا نَأْكُلُ مَعَهُ الجرادَ