I generally try to 'shield' myself from negative vibes in those situations by focusing on my own and feelings. And I acknowledging that their feelings may affect me anyway, but I try to identify whether the feeling came from me or the other person using context, my own life and physiological state, and things like that. It helps me dissociate from the depression while being able to acknowledge and understand that the other person is hurting. And I try to react positively to that by being an open ear if that's wanted or trying to shift the interaction's focus when appropriate.

Disclaimer: the next paragraph comes mostly from my own knowledge and observations over the years, and I don't have depression, so while I think it sounds reasonable, it could be rather uninformed/off track from your feelings and perceptions. I really don't want to muddle things for you, so if I've misunderstood or if this doesn't resonate with you, i'm sorry and don't listen to me.

I'm sorry you seem feel like a chore sometimes. That really does suck and I'm sorry it keeps you away from others. But I don't think you have to avoid interacting with them because of that. I think that there are many people who will, as you build a relstionship with them, become accustomed to your depression in that interaction. Of course, it still is a part of you, but with time, I think others are can see beyond/not be so bothered by it. Realistically, it may take a bit more getting used to for them. But you don't owe it to anyone to act a certain way, and I think you can have positive interactions with people to the point that it'd be totally worthwhile for them to interact with you.