The remains of the roman Castle can be visited
Roman Milecastle 37

Milecastle 37 is one of the milecastles on Hadrian's Wall. It is immediately west of the Housesteads Roman Fort. The remains have been partly reconstructed and consolidated; it is now in the care of English Heritage. The wall has a maximum height of 2.2 metres internally. The milecastle has a short axis, with a Type I gateway. The milecastle contains the remains of a small barrack block in the east half which survives to 1.0 metres high.
Excavations+
The first excavations of Milecastle 37 were in 1853, 1907 and 1933. A re-used corner of a Hadrianic dedication slab was found in 1853, and two altars inscribed to Cocidius and Jupiter were found near the milecastle.
Excavations in 1988-9 showed three periods of the north gate, having been built, blocked, then partly demolished.
Associated Turrets+
Each milecastle on Hadrian's Wall had two associated turret structures. These turrets were positioned approximately one-third and two-thirds of a Roman mile to the west of the Milecastle, and would probably have been manned by part of the milecastle's garrison. The turrets associated with Milecastle 37 are known as Turret 37A and Turret 37B.
Public Access+
The milecastle, and the sites of both turrets are accessible via the Hadrian's Wall Path.
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Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Ozymandias
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: 55.0123, -2.3376