Heroic poetry celebrates heroes, noble action, courage, and large public events in an elevated style. It is often closely related to epic poetry, though the term can also point to poems that focus on heroic deeds without being full epics. In some English criticism, heroic verse means rhymed iambic pentameter couplets, so the context matters.
Example
When dawn broke over the harbor wall,
He raised the gate and heard the trumpets call.
Though outnumbered, he held the narrow way,
And bought the town another day.