updated the interfaces documentation

docs/source/interfaces.rst

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+Interfaces
+======================================
+
+Publishers
+--------------------
+Below is the list of publishers in the Mowito Navigation Stack.
+
+
+**1. Command Velocity Publisher**
+
+      The ``cmd_vel_pub_`` publishes the command velocity of the robot over the **/cmd_vel** topic.
+
+**2. Plan Publisher**
+
+      The ``plan_pub_`` publishes the path consisting of waypoints over the **/plan** topic.
+
+**3. Route Marker Publisher**
+
+      The ``route_marker_pub_`` publishes the route markers for visualizing the route in Rviz over the **/route** topic.
+
+**4. Goal Queue Publisher**
+
+      The ``goal_queue_pub_`` publishes over the **/goal_queue** topic for vizualizing the goal queue in Rviz.
+
+**5. Mission Executive Status Publisher**
+
+      The ``mission_executive_status_pub_`` publishes the mission status of the robot over the **/mission_status** topic.
+
+Service Calls
+---------------------
+Here is a list of the service calls in the navigation stack.
+
+**1. Set Plan**
+
+      The ``set_plan`` service sets the type of planner the robot will use.
+
+**2. Set Route**
+
+      The ``set_route`` service allows the user to set a predefined route comprised of waypoints from a .yaml file.
+
+**3. Route Status**
+
+      The ``route_status`` service returns the status of current route the robot is executing.
+
+**4. Change Planner**
+
+      The ``change_planner`` service changes the path planner used by the robot dynamically.
+
+**5. Change Controller**
+
+      The ``change_controller`` service changes the controller used by the robot dynamically.
+
+**6. Abort Planner Goals**
+
+      The ``abort_planner_goals`` service cancels all the planner goals.
+
+**7. Abort Controller Goals**
+
+      The ``abort_controller_goals`` service cancels all the controller goals.
+
+**8. Abort Mission**
+
+      The ``abort_mission`` service cancels all the planner and controller goals thereby aborting the mission.
+
+**9. Trigger Recovery**
+
+      The ``trigger_recovery`` service triggers the robot into recovery mode.