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How can I get elevation(z) at a specific point on heightmap gazebo?

I want to make an agriculture simulation in gazebo. I imported winding_valley_heightmap from gazebo models. image description

I want to add some tea plants on the valley. Doing it manually by importing the tea plant model and setting it on the contours of valley is not an easy task.

Like population tag in gazebo, I want to add multiple plants in a grid like formation but not it box or cylindrical structure but on the slanting contours of valley.

How can I achieve that?