you can get shorter rods that have the same amount of sensitivy as a 6 foot rod, but a 6ft may only say light action the 4ft to get an equivalency of the 6ft look for a ultra light rod, but yes i also prefer longer rods for bait fishing especially if you have mono on cause you need that extra length to set the hook since you will have a bit more slack line then as if you were spin casting. But as WesternMdHardwoods said, all depends on how you like the feel of it but hopefully we have giving you some guidelines.

Oh and about the line if your new to fishing i dont suggest going as light as 2lbs yet cause its easy to break off when you go to set the hook off if you arent used to the rod, that light of line, or how much force you really need to set the hook, i find 4lb is an all around good size of line for bait and casting but if you are more experienced go with the 2lb.
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Well said Trout slayer!!!! And welcome to HNI!!!