Are hiking staffs/poles ever authorized for use in military uniform?

I've often wondered about this. In civilian organizations such as Scouting, hiking staffs or poles are encouraged when hiking uneven terrain and especially wearing a loaded backpack or ruck. If I were rucking in uniform while holding my weapon, I can see where a staff or pole would be impractical. But are there times or locations where hiking staffs or poles might be authorized, to decrease chance of injury on steep terrain? Just wondering. And wondering when the last time such poles or staffs were authorized or even issued in uniform.