Selecting a RadioButton in a ToggleGroup whenever it is navigated to with the arrow keys

I have a program with a series of RadioButtons that share a ToggleGroup. The following is a simplified version:

import javafx.application.Application;
import javafx.event.ActionEvent;
import javafx.geometry.Pos;
import javafx.scene.Scene;
import javafx.scene.control.RadioButton;
import javafx.scene.control.ToggleGroup;
import javafx.scene.layout.VBox;
import javafx.stage.Stage;

public class Main extends Application {

    @Override
    public void start(Stage primaryStage) {
        ToggleGroup toggleGroup = new ToggleGroup();

        RadioButton button1 = new RadioButton();
        button1.setText("Button 1");
        button1.setOnAction(this::printSelectedRadioButton);
        button1.setToggleGroup(toggleGroup);

        RadioButton button2 = new RadioButton();
        button2.setText("Button 2");
        button2.setOnAction(this::printSelectedRadioButton);
        button2.setToggleGroup(toggleGroup);

        VBox root = new VBox(10);
        root.setAlignment(Pos.CENTER);
        root.getChildren().addAll(button1, button2);

        primaryStage.setScene(new Scene(root, 100, 100));
        primaryStage.show();
    }

    private void printSelectedRadioButton(ActionEvent actionEvent) {
        RadioButton radioButton = (RadioButton) actionEvent.getSource();
        System.out.println(radioButton.getText());
    }

    public static void main(String[] args) {
        launch(args);
    }
}

When I click on a RadioButton, an ActionEvent is fired and the printSelectedRadioButton() method is called. However, once I have clicked on a RadioButton, if I navigate to the other one using the arrow keys, the ActionEvent is not fired and the method is not called. I want navigating to a particular button to have the same effect as clicking on it. How would I do this?

RadioButton#setOnAction works only on click. If you want to get selected radio button you have to add ChangeListener to ToggleGroup.

    ToggleGroup toggleGroup = new ToggleGroup();
    toggleGroup.selectedToggleProperty().addListener((observableValue, oldToggle, newToggle) -> {
        if (toggleGroup.getSelectedToggle() != null) {
            System.out.println("selected radio button: " + toggleGroup.getSelectedToggle());
        }
    });