Unfortunately, you cannot avoid paying depreciation recapture tax by converting a rental property to a primary residence. (It sounds like you already know this, but it's worth pointing out.)
However, to answer your question, you won't have to pay depreciation recapture tax until the condo is sold. Depreciation recapture is a form of capital gains tax, in the sense that depreciation lowers your cost basis and when you sell you technically have a gain relative to your adjusted cost basis. And just like with capital gains tax on any other type of asset, you won't have to pay it until you sell.
On the other hand, you might be able to exclude some of your capital gains on the condo when you eventually sell it. The IRS definition of a personal residence for excluding capital gains on the sale of a residence requires that you must own and use a property as a primary residence for at least two of the past five years. If this is the case, you can exclude as much as $250,000 in capital gains from taxation, or $500,000 if you file jointly with a spouse, but you may have to include a portion of it that can be attributed to the years it was a rental.
If you don't sell the property and it is inherited by your children, the value of the property will be reset to whatever the fair market value is on the date of your death. This concept is known as a "step-up in basis" and is the same thing that happens if you leave stock investments to your kids. And the good news is that your heirs can ignore any depreciation you took on the property while it was a rental, so they would be able to sell it immediately and pay no taxes on the sale, if that's what they choose to do. And if they end up selling it, their capital gain will only be based on the property's value at the time of your death.
With all of the above in mind, it's very important to mention that there are more conditions and what ifs to these topics than I can explain in a few paragraphs, and I don't know the specifics of your situation. For example, if you acquired the condo as part of a 1031 exchange, there are some special rules regarding the primary residence exclusion. And, while I'm a real estate investment analyst and a certified financial planner, I am not a tax attorney, CPA, or other type of tax professional. So, I strongly suggest that you meet with a tax attorney or other qualified professional who can do a full assessment of your potential tax implications.