I don't believe there's a way to use the NotificationManager only to cancel a notification, but you can do it with a simpler Handler. Put some code like this right after you fire your notification.
Handler h = new Handler();
long delayInMilliseconds = 5000;
h.postDelayed(new Runnable() {
public void run() {
mNotificationManager.cancel(YourNotificationId);
}
}, delayInMilliseconds);
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