Complex sentence: Rigodon is less than thrilled to hear the news of their impending trip, having spent his life travelling with the circus, but dutifully accompanies his master as they set out, with Tico still in hiding.
Split into simpler sentences: Rigodon is less than thrilled to hear the news of their impending trip, having spent his life travelling with the circus. However, he dutifully accompanies his master as they set out, with Tico still in hiding.