No, Luxray cannot learn or be taught Dark Pulse.
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Dark Pulse Quick Attack Bone Rush Aura Sphere Metal Claw Swords Dance Me First Extremespeed Dragon Pulse and MANY MANY MORE!
, my name is Trixter, and I'm here to answer that question for you. Lucario never learns Dark Pulse on its own. You can however teach Lucario the TM, Dark Pulse. Um no Trixter he doesn't have to use the TM and I suggest you don't waste it. What you should do is get a heart scale and go to the move relearner at pastoria city and he will let Lucario learn Dark Pulse.
the moves that i think that are good for it is fly, dark pulse, protect and sky attack. You are reading a Pokemon master.
In Pokémon Diamond, the moves that Lucairo is capable of learning through level up in the game is Foresight, Detect, Quick Attack, Dark Pulse, Metal Claw, Counter, Feint, Force Palm, Bone Rush, Metal Sound, Me First, Swords Dance, Close Combat, ExtremeSpeed, Dragon Pulse and Aura Sphere.
I don't think dragon pulse is in Pokemon emerald, sorry.