Hello Rahul,
I am not sure what you mean by "OData service using Odata.publis:true annotation which should have navigation".
But i will try to explain my scenario. There are no extra steps involved here to create navigation. In my case, I was trying to expose an ABAP CDS view with input parameter using the annotation. So it actually created 2 entities in the same OData service. 1 for input parameter and the other for ABAP CDS view. And these 2 are linked using a navigation property.
Best Regards,
Govind