yeah, axoloti works fine connected to rPI, and appears as a alsa midi device.
(ive been doing this, in fact with multiple axolotis connected , and also a few controllers)
you could write it in node.js, or anything thats supports midi e.g. Pd.
(I use C++, but thats just because its my preferred tool :))
the currently limitation is its tricky (not impossible) to get parameters information back from axoloti,
this is ok if you drive it all from the PI, but if you want two way info (e.g. because the patch changes), this takes more work.
this will hopefully improve in the next version of the Axoloti firmware, but be clear, it will still require programming on your part... (though once its done, Im considering writing an OSC bridge, when I get time)