The remains of the Castle can be visited
Hohenstaufen Castle

The Hohenstaufen Castle Ruin overlooks the village of the same name, a district of Göppingen. This former hilltop castle was the ancestral seat of the Staufer dynasty.
History+
Around the year 1070, Duke Frederick I of Swabia had Hohenstaufen Castle built, even before he was elevated to duke. Until the 13th century, it served as the central residence of the Staufer kings and emperors. In 1181, Emperor Frederick Barbarossa stayed here, and in 1208, Queen Irene, the widow of Philip of Swabia, died at the castle.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: https://commons.wikimedia.org/wiki/File:Hohenstaufen_Ruinen.jpg
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: 48.7426, 9.7164