Is there any way that we can add configurable product to cart from category page with their attributes, like color, size etc ? Right now when i add any configurable product to cart it redirects me on product page.
There is default behaviour to allow you to do this
Within the sample data there is a colour and size attribute
See on luma theme how these can be shown on category product listing page
You see how you can select size and colour and you can add to basket.
I recommend you investigate the luma theme and sample data