Unfortunately, the CMS will not be able to upload PDFs. You will have to set up a Universal Email 4 or Digital File Pro upload behavior to do that for you.
Both PowerStore and eCart have the ability to set up so that there is no online payment gateway.
To accomplish something like this, you would have to customize one of the galleries in PowerGallery or have a popup that has a gallery in it when the first image is clicked.
PowerStore will require registration of the customer, but if you have eCart, this is not required. You can set up an email inquiry form by using Universal Email or Contact Form Solution Pack.
Either way you will have to customize the pages to have the pdf download. PowerStore will already have the areas to set up details about the product and you can use PowerGallery to display the images.
Implementing the menu system would require having the categories entered into the database and managed through an interface. You would need to use DataAssist to insert the information into the database and set up a dynamic menu using Menu Writer. It'd probably be simpler to use PowerStore for that part.
Hopefully that information will help you make a decision on where you would like to start from as a base.