dont plant anwhere near your house they have very strong roots.one has been planted in the next road to me about 5 yrs ago the pavement its know up and the tree itself is taller than the house.I have one planted in a container which i trim every year and keep it to 5 ft high.
I wouldn't recommend eucalyptus near a house and agree with insurance. This depend to some extent on soil tpe; snady soils OK clay soild avoid. My parents planted one in their small garden (don't ask!) and average growth is 5' a year. If you are insistent you could try finding a slow growing hardy variety. Look at http://www.nickys-nursery.co.uk/seeds/pages/pa ge5b-eucalyptus.htm
they are seed providers but give some ideas on growth characteristics.