The embedded rust book in section 1.4.4 suggests to use this command to verify the installation:
openocd -f interface/stlink.cfg -f target/stm32f3x.cfg
However, the stlink.cfg file does not exist when installing openOCD (which is version 0.10.0 in my case):
$ openocd --version
Open On-Chip Debugger 0.10.0
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
I found the available interface scripts for openOCD at this path (I'm using Manjaro Linux):
/usr/share/openocd/scripts/interface
The available stlink scripts are:
stlink-v1.cfg
stlink-v2.cfg
stlink-v2-1.cfg
In my case, using stlink-v2-1.cfg solved my problem.
Maybe the Embedded Rust book could elaborate a bit more on using/finding the correct interface file?