In order to attach a milestone to the roadmap, either: click or touch the milestone and drag the link over to the milestone that you want it to be preceded by, then let go.
or: select the desired parent milestone before pressing the create button or “+” on the keyboard. Select the option Relate to selected milestone (it is selected by default), and press the submit button.
In order to dettach a milestone from the roadmap, click or touch the milestone and drag the link over to the predecessor milestone that it is preceded by. If the milestone does not appear anywhere else in the roadmap, then it will move to the root level.