I was aware of both terms, and would not equate them. Heath Robinson might be more similar to what Macguyver does. Bang something together from unlikely materials for unlikely purposes and get it to work out of necessity and a paucity of resources at hand.
Rube Goldberg is more like what I've seen some engineers do with carefully designed equipment. Carefully design something that accomplishes the task only in the most arcane, complex, convoluted way beyond what one could imagine.