The remains of the castle can be visited
Haigerloch Castle (Römerturm)

The ruin of Haigerloch Castle, known as the Römerturm (Roman Tower), is on a narrow rocky spur above the Eyach river in Haigerloch. Although its name suggests Roman origins, it is a Romanesque structure whose history dates back to the High Middle Ages.
History+
The hilltop castle was built around the year 1000 by the Lords of Haigerloch and was first documented in 1095 as “castrum Haigerloch”. In the 12th century, the complex underwent expansion before being destroyed in the 13th century. Later owners included the Counts of Hohenberg and the Princes of Hohenzollern-Sigmaringen. Since 1974, the city of Haigerloch has owned the ruin.
Source: Wikipedia · Licence: CC BY-SA 4.0
This description draws on the facts documented in the linked Wikipedia article; Wikipedia content is licensed under CC BY-SA 4.0. Wording and editing: Mobile History.
Location: 48.3650, 8.8036