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Yes you are right

here is the paragraph about timing on robot_pose_ekf 's wiki

Imagine the robot pose filter was last updated at time t_0. The node will not update the robot pose filter until at least one measurement of each sensor arrived with a timestamp later than t_0. When e.g. a message was received on the odom topic with timestamp t_1 > t_0, and on the imu_data topic with timestamp t_2 > t_1 > t_0, the filter will now update to the latest time at which information about all sensors is available, in this case to time t_1. The odom pose at t_1 is directly given, and the imu pose at t_1 is obtained by linear interpolation of the imu pose between t_0 and t_2. The robot pose filter is updated with the relative poses of the odom and imu, between t_0 and t_1.