Depth Image Proc: Consider replacing SystemDefaultsQoS

[SteveMacenski]

There are many places that SystemDefaultsQoS is being used in the Depth Image Proc. I might suggest setting the depth to 10 or using the rclcpp::QoS profile instead. SystemDefaultsQoS has a default queue size of 1 for Fast-DDS and infinite for Cyclone.

We are in the process of removing SystemDefaultsQoS from Nav2 for this reason and this ticket comes out of a quick audit of the ecosystem of anywhere else a change would benefit ros-navigation/navigation2#4888