You already have a great correction, but I thought I would have a try too.

visit a grave

Visiting the Grave

I went to go visit a grave today.

I visited a grave today.

There is who my grandmother rest.

It is where my grandmother rests.

It is too noisy for me that the chirp of a cicada.

The chirp of the cicadas drowned out everything.

I really like your story. It feels very poignant, and poetic.

I went to a grave.

It is here my Grandma rests.

Summer cicadas.

That is my poor attempt at making a haiku of your idea.

Visiting A Grave

I went to visit a grave today, where my grandmother rests.
The chirp of cicadas broke the silence there.

今日はお墓参りに行きました。
そこには、私の祖母が眠っています。
蝉の鳴き声が、とてもうるさかったです。