I am displaying Wrapper data in lighting component using the data table, But I want to make popover for each field with the associated record id so that user can navigate to that record, what is the best way for that, please share an example if you have.
Answer is: NO
you can see the supported column types here and you cannot add other components:
In the future, you could add a custom cell template, which I believe will help with your requirement, so it will be possible - look here and see that
lightning:dataTable (custom cell templates) is planned for spring 19 (which is next release)