The Frisians were able to make an agreement with the Romans at the River Rhine in 28 CE. Sixteen years later they defeated the Romans under Tiberius at the Battle of Baduhennawood. The Frisii were known and respected by the Romans and were written about by several writers. Tacitus wrote about the Germanic peoples in 69 CE, describing the habits of the Germanic people, as well as listing a lot of Frisian groups by name. Of the many groups he listed, the Frisians are the only ones that have kept their old name.