The elastic waves generated by impactors hitting rough and erodible surfaces are studied. For this purpose, beads of variable materials, diameters, and velocities are dropped on (i) a smooth PMMA plate, (ii) stuck glass beads on the PMMA plate to create roughness, and (iii) the rough plate covered with layers of free particles to investigate erodible beds. The Hertz model validity to describe impacts on a smooth surface is confirmed. For rough and erodible surfaces, an empirical scaling law that relates the elastic energy to the radius Rb and normal velocity Vz of the impactor is deduced from experimental data. In addition, the radiated elastic energy is found to decrease exponentially with respect to the bed thickness. Lastly, we show that the variability of the elastic energy among shocks increases from some percents to 70% between smooth and erodible surfaces. This work is a first step to better quantify seismic emissions of rock impacts in natural environment, in particular on unconsolidated soils.