10在X3_pi开发板上写了一个ROS2程序，运行时出现报错：Node has already been added to

主程序如下：

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);
  cout<<"初始化完毕"<<endl;
  auto node = std::make_shared<EntryClass>();
  rclcpp::spin(node);
  cout<<"结束spin"<<endl;
  rclcpp::shutdown();
  return 0;
}

其中

EntryClass

构造函数如下：

EntryClass::EntryClass() : 
    Node("sensor_fusion"),
    image_frame_id(""),
    camera_lidar_tf_ok_(false), 
    camera_info_ok_(false), 
    usingObjs(false)
{
    // 声明参数并设置默认值
    this->declare_parameter<double>("freq", 1.0);
    double freq;
    this->get_parameter("freq", freq);

    cout<<"cpp"<<endl;
    buffer_ = std::make_unique<tf2_ros::Buffer>(this->get_clock());
    transform_listener = std::make_shared<tf2_ros::TransformListener>(*buffer_, this);

    fusion_cloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("colored_point_cloud", 1);
    intrinsics_sub_ = this->create_subscription<sensor_msgs::msg::CameraInfo>("/camera/camera_info", 1, std::bind(&EntryClass::intrinsicValueCallback, this, std::placeholders::_1));
    laserScan_sub_ = this->create_subscription<sensor_msgs::msg::LaserScan>("/scan", 1, std::bind(&EntryClass::laserScanCallback, this, std::placeholders::_1));
    cameraImage_sub_ = this->create_subscription<sensor_msgs::msg::Image>("/camera/image_raw", 1, std::bind(&EntryClass::cameraImageCallback, this, std::placeholders::_1));
}

运行后出现如下报错：

请求大佬帮忙解决，谢谢！