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A common approach is to simply use a tablet as a programmable touch screen interacting with a ROS based robot using rosjava.

That gives you the nice touchscreen SDK/API/UI design guidelines which users are used to. And you don't need to constrain the hardware that runs on the rest of the machines.

There are a lot of computers out there which support touch screen displays. However always check for reviews about linux compatibility. If it's linux compatible you should be able to use it with ROS relatively easily.

The only ROS ui type packages I know of is ros_osc but that's probably not what you're looking for.