Part of the Roman empire did extend into Africa, and I assume some Africans migrated to Italy or Spain or what have you. Was there a racist attitude towards black people? How were they perceived by most Romans?
Υοu might be interested in this previous answer from u/Algernon_Moncrieff that has a Roman theory on 'races' as explained by climate, and why Romans are obviously the best-off.
EDIT: just to make the reference from that comment clearer if you want to look it up for yourself, it's chapter one of book six.