I took a tour from Rio to Petropolis in June 2015 with Riomaximo. They picked me up and dropped me at my hotel (the JW Marriott Copacabana), with the pick up at 9:30am. There were 22 people: me, 4 Mexicans (speaking Spanish) and the rest Brazilian (speaking Portuguese). The guide spoke fluent English and I had no trouble understanding what was going on. We made a photo stop at the casino, then went to a chocolate "factory" (mainly for the toilets, I think), then to the Emperor's Palace. There are 44 rooms and we examined each one. I would have been happy with 4. Then a late lunch by Santos Dumont's place (this was my main interest and there was time to explore it on yout own), then back to the bus and visits to the Cathedral and the Crystal Palace and back home by 6:30pm. It cost 100 BRL plus 40 for lunch.
I thought it was well organized and enjoyable.