Hire a crane.
Have everything prepped before the crane gets there. Pre level your nuts. Make sure your bolts are aligned. Tape your wires so you don't have to fight with them. Lay the poles in smart places. Sometimes you can set more than one from the same location.
If you don't have a bucket truck it's not a bad idea to get power and test them before they go up.
If the fixture arm is bolted thru the pole you can just loop the strap around it.
If the fixture is slip fitted you need to pick them up by the hand hole. A "C" clamp works nicely. One end of the strap goes on the clamp and the other end, slip knot style so it stops near the top. The crane hook is at the top but the load is on the bottom. Attach a tag line so you can pull the strap down when you are done.
The only point where it becomes really dangerous is when you stick your arm under and inside to help the wires feed thru. Avoid it if you can. If you keep your hands on the pole, your eyes open and obstacles out of the way, you should be able to get out of the way in case of catastrophic crane failure.
If prepared, you can set 10 poles an hour.