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Petronius married an unnamed African Roman noblewoman and they had three children: a son Marcus Petronius Sura Mamertinus who served as consul in 182 who married Annia Cornificia Faustina Minor (one of the daughters of Roman Emperor Marcus Aurelius), Marcus Petronius Sura Septimianus who served as consul in 190 and a daughter who had married the illustrious Roman Senator Marcus Antoninus Antius Lupus.