First, is your camper setting level when hooked up to your tow vehicle? It needs to be setting level, when hooked up on level ground. Second, check your tire pressure, making sure they are even, and inflated to the recommended pressure on the tires side wall. If both of those are good, check your tongue weight. If you camper is heavier in the rear than at the tongue, you will have sway, and a sway bar only masks the problem.
For the poles, I assume you are talking about the bed support poles? Here is a quick video from youtube showing the set up of a Jayco pup. Our 03 model was very similar to this one.
If the video I linked to doesn't help, there are also lots of other videos on youtube that go more in to detail, and, cover lots of different types of set ups.