When an user upload an new avatar, the avatar is posted in the activity wall. How can I get this activity ID by using the userId?
I think the only way is to create an own query, right?
You can write a query to get that activity. There is also a filter you can hook into which will get called after the avatar is uploaded (explained later):
<?php
global $wpdb;
$query = "SELECT * FROM {$wpdb->prefix}bp_activity WHERE " .
         "`type` = 'new_avatar' AND `user_id` = %d " .
         "ORDER BY `date_recorded` DESC LIMIT 1";
$result = 
$wpdb->get_row(
    $wpdb->prepare($query, $user_id)
);
if ($result) {
    // found an activity item for avatar upload
    var_dump($result);
} else {
    // user has not uploaded an avatar
}
Result looks like:
stdClass Object
(
    [id] => 2   <-- this is the activity ID
    [user_id] => 1
    [component] => profile
    [type] => new_avatar
    [action] => admin changed their profile picture
    [content] => 
    [primary_link] => http://example.com/wordpress/members/admin/
    [item_id] => 0
    [secondary_item_id] => 0
    [date_recorded] => 2016-03-29 04:41:53
    [hide_sitewide] => 0
    [mptt_left] => 0
    [mptt_right] => 0
    [is_spam] => 0
)
There is an action that is called which you can hook into that will be called when this activity takes place.  It is xprofile_avatar_uploaded and it passes two parameters, $item_id (user ID), and $type (e.g. crop or camera).  This filter is executed after an avatar is uploaded.
Somewhere in your functions, add:
add_action('xprofile_avatar_uploaded', 'callback');
function callback($user_id, $type)
{
    // $user_id uploaded new avatar
}
I found you can also call:
$img = bp_get_activity_avatar(['user_id' => $user_id]);
to get the HTML to display the avatar.  They are stored in wp-content/uploads/avatars.
You can also call:
$url = bp_core_fetch_avatar(['item_id' => $user_id, 'html' => false]);
to get just the full URL of the avatar.
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