The "scepter" and the "staff" are long decorated sticks that kings carried. Here they are metonymies that stand for the power to rule. And, "Judah" stands for his descendants. AT: "The power to rule will always be with the descendants of Judah" (See: [[rc://en/ta/man/translate/figs-metonymy]] and [[rc://en/ta/man/translate/figs-parallelism]])
Possible meanings are 1) "Shiloh" means "tribute." AT: "until the nations obey him and bring him tribute" or 2) "Shiloh" refers to the city of Shiloh. AT: "until the ruler comes to Shiloh. Then the nations will obey him" Many people consider this a prophecy about the Messiah, who is a descendant of King David. David is a descendant of Judah.