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So did you integrated your rotating kinect and servo in your turtleblot xacro file? This is the common way to go in ROS. Take a look at this tutorial. Maybe there' re other better ones, but this covers what you need. Basically, you must do 3 things:

• Integrate the servo and kinect in the robot description (xacro file). The joint linking the servo and the kinect must be of revolute type (as the gripper in the tutorial)
• The driver controlling your servo must regularly provide the joint state by publishing on /joints_state topic, the higher the rate the better (typically between 20 and 50 Hz)
• Ensure that you SLAM use kinect tf properly. I mean, it doesn't make assumptions like the kinect orientation is fixed and so on (as amcl or gmapping do, afaik)

Here you have a simple example for the first point, the mounting of a cannon that can tilt (though in your case you want to pan)

Hope the explanation is clear enough and I'm not missing something!