Older diesel engines are less likely to need modification, I know a Mercedes 190d will run on filtered waste vegetable oil (just through a cloth to remove bits) or new oil without modification, no diesel mixing needed wither. However, it all seems to depend on what fuel injection system and fuel pump are used in the car, other factors such as ambient temperature are also a factor as veggie oil has a higher viscosity that diesel.
BUT, i rang the Revenue guys and while they have no problem with it they say you MUST pay the applicable excise duty of 39.6c/l and this is easier said than done. You need to be registered with them in order to pay it and the impression I got was that this was a lot of effort. Once you pour the oil into the car its reclassified as a fuel rather than a food so you owe them money. Apparently "big fines" can be imposed for non payment.