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In general a touch screen that is recognized by Linux and generates events EV_KEY, EV_ABS and EV_SYN will  events will work with JavaFX.

Raspberry Pi OS

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Warning

The JAVAFX_DEBUG environment variable is only for use in development and you shouldn't rely on it for deployment of your application. In the future this functionality might be specified differently or be removed.

Touch events

A touch screen attached to the Raspberry Pi generates both TouchEvents and MouseEvents. Only a single touch point is supported by default, but there is experimental support for multitouch events. To enable multitouch, set the system property -Dcom.sun.javafx.experimental.embedded.multiTouch=true on the Java command line.