I don't know if you saw, but a while back I was hoping for Lucario in Brawl, and made up a moveset that I thought would suit him, I'm going to dissect that now.

What I predicated will be bolded, what is actually in Brawl will be italic.

B - Aura sphere attack, charges like Mewtwo's Shadow ball, can be launched and then directed slightly with the control stick.
Yes, he uses Aura Sphere just like this, but without the guiding that I hoped for.

Forward B - Force Palm, hard to hit enemies with bunch successful hits leave opponents temporarily stunned, use to advantage, grab then, combo them, smash them, etc.
It IS Force Palm, but it works nothing like this. Lucario either grabs the enemy depending on range, then shoots his fist forward in a burst of aura energy, very effective but not paralysing.

Down B - Counter, blocks enemy attack with aura powers and repel it back at them, doubles % damage
I don't know about the 2x damage thing, but I was right on the money, he detects it and then launches an attack. Seems to have few frames for countering though, in contrast to Marth.

Up B - Quick Attack, just like Pikachu's quick attack (but obviously, not an electric attack as mistakenly done in Melee)
Wrong, he uses Extreme Speed, it's similar to Fox's Side-B, except it can be guided up or down, and then curved during movement. It's actually a very effective recovery move together with his wall-clinging ability.

Final Smash - Lucario manipulates aura to heighten his senses, which slows down gameplay for everyone except Lucario, doing so allows Lucario to make easy hits until he tires from using aura for the rest of the match.
Also wrong, Lucario uses what appears to be Hyper Beam. He jumps to the top of the screen, then shoots towards where you point the analogue stick. If it hits an enemy it can do about 28%, but it's very effective for ensuring a KO as it's hard to dodge.

So I was actually pretty damn accurate there, what I thought his final smash would be, ended up being a useful item anyway, the stop watch.

Oh, and here's the real kicker, Lucario has a unique ability that no other character does, as he takes more damage, he deals more damage.

0% - 1.00x damage
50% - 1.25x damage
100% - 1.50x damage
150% - 1.75x damage
200% - 2.00x damage

DAYUM, this is quite an ability we're talking about here, Lucario not easy to knock out either.

One other thing, he Down-Arial attack is extremely useful, he slows in the air and kicks his feet downward twice with aura bursts, it's actually pretty damage dealing.

Lucario in brawl? Not only did he make it, but he's a damn fine character to play as too.