Bamboo has been used for centuries to build scaffolding in East Asia, and is still in use today- everyday pioneering visible in every city. Where there are industries, there are standards, and the Hong Kong government publishes the document
Guidelines on the Design and Construction of Bamboo Scaffolds, which regulates every details of how bamboo should be used in scaffolding there.
Amongst other things, this regulation controls:
The type of bamboo-
The commonly used bamboo types are Kao Jue and Mao Jue.
They should be 3 to 5 years old and air-dried in vertical
positions under indoor condition for at least 3 months before
use. The nominal length of both Kao Jue and Mao Jue is 6 m.
Shear lashings for joining poles-
the distance between two knottings on the overlapping
portion of the bamboo members should not be greater than
300 mm, and the tail of one bamboo member should be
connected to the head of the other. Diagram 9 illustrates the
proper connection of bamboo members for bracings/rakers,
ledgers, posts/standards used in a bamboo scaffold.
And even inspection for quality control-
Bamboo is a natural material and it expands and contracts as
the moisture content changes. Proper workmanship, close
supervision and frequent inspection are required to ensure the
structural integrity of the bamboo scaffolds.
While these regulations might not apply in your country (and might even allow for structures that are illegal/not suitable for Scouts in your country) they are an interesting read if you are looking at building large pioneered structures.