From $h(t):= f(x_0+t)-f(x_0^{+})$, since $f(x_0^{+})$ is constant, it suffices to show that $f(x_0 +t)$ is Riemann integrable on $[0, \pi]$. We will use answer of Integrability of composite functions :
Lemma. If $f$ is a Riemann integrable function defined on $[a,b],\ g$ is a differentiable function with non-zero continuous derivative on $[c,d]$ and the range of $g$ is contained in $[a,b]$, then $f\circ g$ is Riemann integrable on $[c,d]$.
First, for each $n\in \mathbb{Z}$, we define
$$U_n:=[(2n-1)\pi , 2n \pi] , U'_n:=[2n \pi, (2n+1)\pi] .$$
Note that $\mathbb{R}= \cup_{n\in \mathbb{Z}} U_n \cup U'_n$.
Second, note that since $f \in \mathcal{R}[=\pi ,\pi]$ and is periodic of period $2 \pi$, for each $n\in \mathbb{Z}$, $$f\in \mathcal{R}[-\pi + 2n\pi , \pi +2n\pi]= \mathcal{R}[(2n-1)\pi , (2n+1) \pi]. \tag{1}$$
And, from this (by cutting domain) we obtain $f\in \mathcal{R}[2n\pi, (2n+1)\pi]$. Furthermore, by replacing $n$ to $n+1$, we obtain $f\in \mathcal{R}[(2n+1)\pi, (2n+3)\pi]$, from which (again by cutting domain) we obtain $f\in \mathcal{R}[(2n+1)\pi, 2(n+1)\pi]$. By 6.2.3. theorem of the Manfred's book, we conclude that $$f\in \mathcal{R}[2n \pi , 2(n+1)\pi]. \tag{2} $$
Third, now fix $x_0 \in \mathbb{R}$ as in the statement of the theorem in our question. Then by the first argument there exists $n\in \mathbb{Z}$ such that $x_0 \in U_n$ or $x_0\in U'_n$.
Case 1) $x_0 \in U_n$ : In this case, $x_0 \in [(2n-1)\pi,2n\pi]$ so that $[x_0 , x_0+\pi] \subseteq [(2n-1)\pi , (2n+1)\pi]$, on which $f$ is integrable by the $(1)$. By noting that $f(x_0+t) = f|_{[(2n-1)\pi , (2n+1)\pi]} \circ g$ where $g(t):=x_0 +t$ and $[x_0 , x_0+\pi]$ is the image of $g$ on $[0,\pi]$, by the above lemma, $f(x_0+t) \in \mathcal{R}[0,\pi]$.
Case 2) $x_0 \in U_n'$ : In this case, $x_0 \in [2n \pi, (2n+1)\pi]$ so that
$[x_0 , x_0+\pi] \subseteq [2n\pi , 2(n+1)\pi]$, on which $f$ is integrable by $(2)$. Then by similar argument for the case 1), we get $f(x_0+t) \in \mathcal{R}[0,\pi]$.
And we are done.
P.s. Is there any other simpler route to show the integrability, e.g., bypassing usage of the above Lemma?