You can do one of two things. Either convert your truck to use straight WVO (waste veggie oil) or start making biodiesel.
The WVO conversion basically has you adding a 2nd fuel tank, heater to heat the fuel, strong fuel pump (WVO is higher viscosity than diesel), and a switch that allows you to go from your diesel to the WVO. I think you have to start your truck on diesel and switch to the WVO once the system has sufficiently heated the oil. Conversely, you have to switch back to diesel for a few minutes before you turn off your truck to make sure the WVO is purged from the system before the truck cools down. There might be more. I'm not totally up on my WVO knowledge.
I'm working on going the biodiesel route. You do not need to change anything on your truck to run bio so long as all your truck's rubber parts are synthetic. Newer trucks are all synthetic, so you should be fine. The only downside to bio is that if you live in a cold climate, it will gel up much faster than dino diesel.
You can build yourself an Appleseed processor for cheap, and it's fairly easy. Google it. I'm still in the early stages, making small batches and learning the reaction to ensure I make good bio.
As far as chemicals, you'll need a line on methanol and either potassium hydroxide (KOH) or sodium hydroxide (NaOH). You mix the KOH and methanol to make methoxide, which is the catalyst of the reaction. You will need to be ABSOLUTELY sure no water gets into the reaction or it will not occur. You can do oil tests to see if there is any moisture in it (heat it up and see if it pops).
After you make your bio, you will need to wash with water and dry it to be sure you get rid off all the residual soap and methanol to avoid water in your diesel (I know, that sounds funny).
It's actually pretty fun and very rewarding to think that you just took $$ out of the middle east's pocket! If you try a small batch and it doesn't work out, just keep notes on what you did and where you think you went wrong (too much KOH, water in the process, not agitated enough, blah blah) and try again. I actually got it right on my first batch, then failed on the next one because I wasn't as careful.
Here are links to where I started. Sorry for the long winded post!