An arborist would be a good choice. Also a sign company, or others that have small cranes. Someone at my brother's RC club put a plane in a tree and hired a crane company to come out. They literally suspended a guy in a harness from the crane and lowered him into the top of the tree. Likely not the cheapest option, but it got the job done.
But don't completely rule out a fire department, especially if you're in a area that doesn't see many house fires. They need to train on their equipment and may be willing to come out just for the ladder truck training/practice aspect of it. It wouldn't be the first time it's happened.