Raccoons are nocturnal, which means they sleep during the day. They are excellent climbers, and in more natural settings they like to find a spot high up in a tree to spend the day. Unless it is visibly injured, a raccoon in a tree is usually not stuck and will climb down once it gets dark.
In cities and suburbs, raccoons sometimes sleep on top of telephone or hydro poles instead. They will not come down during the day when the street is busy with traffic and pedestrians, but they are almost never stuck.
If you are still concerned about a raccoon “stuck” up in a high spot, monitor it overnight, including checking at least twice after it gets dark. If the raccoon stays in the same spot on the tree or pole for over 24hrs, including overnight, contact a wildlife rehabilitator for advice.