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They were not supermen by any means :) But yes, temperatures were higher, by more than 1 degree (Kent and Wales were famous for their wines, right now it's far too cold there for that for example). And don't forget that in the Roman era, wars were fought in summer almost exclusively, later expanding into spring and autumn as the conscript army was replaced ...

http://www.romanarmy.net/coldweather.htm Seems to address cold weather clothing very well. It seems they did what we did, scarfs, multiple layers, hats, enclosed boots etc but with the exception of trousers, which they saw as barbarian. They went for lower leg coverings instead. I would point out these guys seem to manage without trousers. Except actually ...

Wikipedia to the rescue: This article on caligae (military boots) states that Socks were not normally worn with caligae, although in colder climates such as Britain, woolen socks were used. This one on Roman military personal equipment mentions that [The sagum and the paenula] were made from wool, which insulated and also contained natural oil ...