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Yes, this is possible and the standard use case.

The relative transform between the turtles is known indirectly as they both have a pose in the world. Likewise the relative transform from kinect to robot must have been fed in from somewhere into tf. This could also happen from different modules as long as there is a transform chain from base_link to the kinect frame.

Just call the tf transform functions, use base_link as the target and the kinect's frame from the message. If that will work depends on the fact that someone must have set it up on your robot.