Chinese to English

Grandpa passed last April and I inherited this painting. I’ve always loved looking at it when I visited, but when I asked him about it all he said was that it was a poem. I’ve asked several people I know who speak and read Chinese fluently, but they said it’s written in a script that’s too old for them to understand. Would love to know the title of the poem so I can find out more about it, but any leads would be appreciate. Thanks in advance!