Update migration guide to include route server demo for warehouse.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Author: leander-dsouza

migration/Jazzy.rst

@@ -498,3 +498,14 @@ Here we can see the working demo of the feature:
 RegulatedPurePursuit Controller [RPP]: new parameter ``stateful``
 ********************************************************************************
 `PR #5167 <https://github.com/ros-navigation/navigation2/pull/5167>`_ adds a new parameter stateful for the regulated pure pursuit controllers. This parameter enables stateful goal handling behavior. When set to true, the controller will persist the goal state once the robot reaches the XY tolerance. It will then focus on aligning to the goal heading without reverting to XY position corrections.
+
+Nav2 Route Server Demo Support
+*******************************
+In `PR #5160 <https://github.com/ros-navigation/navigation2/pull/5160>`_, graph support was added to the warehouse world of the Turtlebot4 simulation in Gazebo.
+This allows users to visualize the route server in action and test the new features of the route server. The demo includes a simple route with a few waypoints and a graph to follow.
+
+.. figure:: ../configuration/packages/images/route_server/warehouse_graph.png
+    :width: 100%
+    :align: center
+
+    RViz visualization of the route graph for the warehouse environment. All nodes are **bidirectional**, except the ones that are annotated.