The remains of the roman Castle can be visited
Roman Fort Gariannonum

The Roman fort of Gariannonum, today known as Burgh Castle, was built between 260 and 270 AD in the county of Norfolk, England. It played a role in securing the Roman Saxon Shore, particularly the estuary of the River Yare.
History+
The name Gariannonum is derived from the river Gariennus, as it was referred to by Ptolemy in his Geographica in the 2nd century AD. The fort, along with Caister-on-Sea, served to protect the river mouth. It housed the Equites Stablesiani Gariannonensis, a unit of Roman auxiliary troops under the command of the Comes litoris Saxonici per Britanniam. Although its layout still reflected the style of the 2nd century, the fortress was later modernized with ten horseshoe-shaped defensive towers, which were added to the walls at regular intervals.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: http://commons.wikimedia.org/wiki/File:Gariannonum_Burgh_Castle_south_wall_well_preserved.jpg?uselang=de
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: 52.5826, 1.6515