The remains of the roman Castle can be visited
Roman Castle Biriciana

In Weißenburg, the Roman fort Biriciana is a Roman military architecture site in Bavaria. It is near the Upper Germanic-Rhaetian Limes, a UNESCO World Heritage site.
History+
Around 90 AD, during the Domitianic era, a first timber-and-earth fort was built at this location to secure the newly conquered territory north of the Danube. In the mid-2nd century, this facility was replaced by a larger stone fort. Around 253, or at the latest 254, the fort and the surrounding civilian settlement fell victim to Alamannic incursions and were destroyed. Archaeological finds, including coin hoards, confirm this destruction. In its final phase of expansion, the fort was an almost square stone fort that housed an ala, a Roman cavalry unit. The complex featured rounded corners, defensive towers, and four gates flanked by double towers, surrounded by a double ditch.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: http://de.wikipedia.org/wiki/Datei:Wei%C3%9Fenburg_Porta_decumana1.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: 49.0309, 10.9624