A friend of mine has something called a "MastMate", which is a webbing ladder that fits into the slot for on the mast for your mains'l. (I don't think a rope ladder would be very safe without some sort of stabilizing system.) I have used it a couple of times, and it's fine as long as you are in shape to climb a 40 foot ladder each time you go up, or come down to get something you forgot the first time. If you have a helper, they can send tools up if needed, and could use a second halyard as a safety line, and lower you to the deck if you did fall.
When I am alone, I use one halyard to pull the MastMate up the mast, and then run another halyard from the masthead to the deck next to the mast. I tie a prusik knot around the second halyard and a short tether from that to the climbing harness I use if I'm hauled up the mast without the MastMate. You can slide the Prusik up and down the second halyard as you climb. I admit that I wouldn't be able to slide it if the MastMate failed, and I'd be stuck hanging by the second halyard. But at least that's better than falling onto the deck or into the water.
There is also a product called an "ATN Mast Climber" that uses climbing ascenders attached to a bosun's chair and a foot loop to let you climb a halyard by yourself. I have never tried one, but I'm sure someone else here could speak from experience.