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https://github.com/tikv/raft-rs probably gets you close. I seem to remember that the "gossip" protocol is helpful and not a part of Raft.
I guess you could look at mdns and multicast such as https://github.com/nervosnetwork/rust-mdns-discover that's how bonjour and printer/Chromecast/Spotify Connect and Sonos stuff works (I think?)
serf uses memberlist which uses the SWIM failure detection protocol (https://www.cs.cornell.edu/projects/Quicksilver/public_pdfs/SWIM.pdf) with the Lifeguard extensions (https://arxiv.org/pdf/1707.00788.pdf).
This is definitely not what you are looking for but I thought it might be interesting to mention my "service determination" (opposite of service discovery but trying to achieve the same goal) toy as well :) Five years ago, I wrote the IPGen Spec (https://github.com/ipgen/spec) which outlines a way to generate unique and reproducible IP addresses in a stateless manner. Naturally, it can be used for service discovery.
It comes with Rust (https://github.com/ipgen/rust) and Go (https://github.com/ipgen/go) reference implementations. It also has a command line tool written in Rust (https://github.com/ipgen/cli).