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So I found a work around.

After calling sendGoal() I've not got this little while loop

while (navigationState == actionlib::SimpleClientGoalState::ACTIVE ||
     navigationState == actionlib::SimpleClientGoalState::PENDING)
{
    navigationState = ac.getState();
    ROS_DEBUG("Navigation State: %s", navigationState.toString().c_str());
    sleep(1);

    if (cmdString == "HOME")
    {
        ac.cancelGoal();
    }
}

Basically checking for incoming messages/commands and cancelling the goal when I need

This might be of use to someone ;-)

Mark

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