When I started reading this thread, I knew next to nothing about Lucario/Rukario. But now, here I am, making a moveset.
Lucario:
Stats:
Speed: 2.5/5, Continue reading.
Power: 3/5
Jump: 4/5, second is 2/5. First jump has floaty properties for about a second.
Fall speed (gravity): 4/5
Traction: 4/5
Weight: 3/5
Okay, Lucario has the ability "Humble Heart". This means when he starts at 0% damage, he will be at his default speed, about average. But as he gains damage, he will become faster. He will run faster, and his attacks will have less lag. I could see this having some kind of "acceleration". That means that as he gains even more damage, the amount he speeds up increases. Like if he's at 50%, his speed will be 1.1x normal. When he reaches about 100%, his speed will be about 1.3x normal. At 150%, his speed will be about 1.6x normal, and if he reaches 200%, his speed will be double what it was at 0%. Also, at 100%, his strength could start to increase. Very slightly however.
And Now, the Moves:
Neutral B: Wave Guiding Bomb
Hold B to charge it, once you let go he will release it, so its not holdable. Max charage time is comparable to mew2's shadowball. When you release it, it will fly in a straight line. You can aim to to a certain extent (somewhere between Link and Y Link boomerang aimability). The longer you charge it, the less ability you have to aim it (no charge it like ylink, full charge is like link). There is a bonus though. 2 seconds after you reach max charge, Lucario will move his other hand to the opposite side of him, and transfer some energy to the other hand. A second after doing this, he will reach max charge in both hands. The dual blasts are each 80% as powerful as the single blast.
Forward B: Detect.
Press >B to use this move. When you do, Lucario will put his hands in front of him, in a kind of meditating stance. His so-called "dreads" will float up as well. This will last 1-2 seconds. When someone attacks you within this time, you will have a chance to counter. Their attack will automatically miss, and you will be given the chance to counter. Counter attacks are as follows:
A: Lucario moves out of the way and thrusts his hand(s) into the opponents, with decent horizontal knockback
B: Moves out of the way and sticks his hands infront of the opponent and releases a burst of wave energy, decent knockback.
L/R: Dodges enemy and spins around them (rather stylishly)
No input: just dodges the attack (again, stylishly)
Up B: High Jump Kick.
Lucario will launch himself upward, gaining as much vertical height as Samus's screw attack, In a knee-out position. At the top of the jump, he will extend one foot downward and fall. If he falls a long distance (height of yoshi's story's highest platform), he will take 6-8% damage. If he comes down on an aerial opponent, it will meteor smash them.
Down B: Endure.
When pressed, Lucario will spread his legs, and bend his arms in a powerful stance. Getting into the stance will take a second (Making it instant like the shine would allow eternal staying power). Any attacks done to Lucario during this time would have absolutely no knockback, and do 1.1x normal damage. This will continue as long as it's held. However, if Lucario takes 50% or more while endure is held, he will discontinue the stance. By default, he cannot resume the Endure stance for one second. But additionally, he will add 1 second to that time for every 10% taken during the move. For instance, if he takes 40%, he can't use Endure again for 5 seconds, etc.
This is based on your moveset with some changes and details added. From this moveset, Lucario would be a largely defensive character. He relies on the other player's offense to raise his power and counter attack. This is pretty unique in my opinion.
EEDIT: Lucario is going on my wishlist, and yes, I would love one of those T-Shirts.