If you want a direct drive, you'll want to go with a VFD if you want more than one speed. Keep in mind this requires a 3 phase motor. VFDs will range anywhere from say $100 for an open (needs an enclosure and/or filters to keep dust and debris from destroying it) to about $450 for a TEFC. Then there's a motor, which will vary depend on where you source it. I've found 3 phase motors for $50 to $100 before.
If you go with a belt and pulley system, you can still use a VFD, but instead of needing step pulleys (will give you 3-4 speeds on a single speed motor) you can get by with just a single pulley on the motor and one on the shaft.
Now, I'll just add that there is less power loss due to friction and other factors with a direct drive vs a belt/pulley system. with a 2hp or 3hp motor, this may not really be an issue though.
As for drive wheels, there are plenty of economical options on eBay, and you can get a decent aluminum wheel for $35 or so that will be much better than any skateboard wheel, caster, or similar. Same for trackng and idlers.