  The multi-messenger data of neutron star merger events are promising for
constraining the Hubble constant. So far, GW170817 is still the unique
gravitational wave event with multi-wavelength electromagnetic counterparts. In
particular, its radio and X-ray emission have been measured in the past $\sim
3-5$ years. In this work, we fit the long-lasting X-ray, optical, and radio
afterglow light curves of GW170817/GRB 170817A, including the forward shock
radiation from both the decelerating relativistic GRB outflow and the
sub-relativistic kilonova outflow (though whether the second component
contributes significantly is still uncertain), and find out a relatively large
viewing angle ($\sim 0.5\, \rm rad$). Such a viewing angle has been taken as a
prior in the gravitational wave data analysis, and the degeneracy between the
viewing angle and the luminosity distance is broken. Finally, we have a Hubble
constant $H_0=72.57^{+4.09}_{-4.17}\, \rm km\, s^{-1}\, Mpc^{-1}$, which is
more consistent with that obtained by other local measurements. If rather
similar values are inferred from multi-messenger data of future neutron star
merger events, it will provide critical support to the existence of the Hubble
tension.
