The answer to that lies purely in User Experience (UX) domain. Android devices are usually personal devices and you should put that in mind while coding your app.
Users are maybe playing a game or making a phone call, launching your activity without any notification is rude and I would uninstall any app that would do that.
Also if the phone is locked your activity will not actually launch instead it will wait until the user unlocks the phone.
Notifications on the other hand are made to tell the user that the app wants to show you something. So use them instead.
Unless you are building a private app then you know what is better for your requirements.