If I do it with my legs ON the pole I have 2 kinds.
The body roll on the pole - with legs wrapped on the pole like they would be for a climb.
For this one - do a pole climb - but do not press your stomach to the pole once you get up. Keep your bum away. Now squeeze your knees, thighs etc tight and do a body roll (put your collarbone on the pole, then your boobs, then tip your head back and put your stomach on, and then go back to starting position with your bum out.) You obviously can't undulate as much as you can if you do a body roll standing on the floor. But it still looks cool. If you let your legs slip a bit, that's okay too coz you can body roll down the pole, basically -- til you get back to standing.
The body roll on the pole - while sitting, gripping with thighs, legs out in front.
This is just a pole sit nd you do a body roll with your torso - but you'll notice that as you do the roll/wave, your hips move which will make your legs move. This is good! Let your legs particpate in the sort of floaty movement. I think it looks a bit like a mermaid when done this way. All the grip is in your thighs for this one.
Anyone got advice for the legs OFF version? Like I said, my whole body drifts/rotates to one side, until it pulls me off the pole totally. Is this my abs? shoulders? lats?