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The Romans pushed into central and much of northern Germany under Augustus, but they were defeated and only kept in the south and part of the centre. The river Danube formed the boundary of the empire in the eastern part, running east-west and including southern and central Bavaria. The border then turned north with the Limes Germanicus, a fortified frontier with 54 front-line forts, 45 rearguard ones and many watchtowers. This included most of Baden-Wurtenberg and southern Hesse (the western part of the Darmstadt region). The then frontier turned west towards the river Rhine which it joined just south of Bonn. The lower Rhine was the rest of the frontier. Thus, cities like Stuttgart and Frankfurt were inside the empire. Several cities in the Rhine were Roman, such as Strasbourg, Speyers, Worms, Mainz and Bonn. The northernmost one was Cologne.

In the 3rd century AD the Romans were pushed back and the frontier became the Rivers Rhine and Danube.

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