Is the second form new or a form that already exists? Out-of-box, InfoPath has the NewFromTemplate action that will open a new form and you can just set a condition on a rule with that action to only do it if the checkbox is Yes.
If it's an existing form, Ernesto's suggestion can be used to show-hide a link based on your yes-no, but if you need to launch it, the only solution is qRules v3.3 with the new OpenUrlInBrowser command.
You would add a submit button with a rule that has a submit action and another rule with a close action.
Between these rules, add another rule with an action that sets qRules command to OpenUrlInBrowser with the parameters of the XML. On this rule set the condition to check yes-no.
One caveat is that this does not work in the browser. Just the InfoPath Filler. Limitation is a security one in the browser.
qRules v3.3 comes out any day now ...