Not in a regular auction no ...but they usually charge 15% of the sale price as their commission.
It depends on what website you want to put it up for auction on. Ruby Lane Antiques does charge a fee and many other antique specialists also charge. EBAY is really a liquidation market place and you get less there and the fee is minimal. If EBAY charges a final sales fee I imagine the other charge at least a commission if not more.
It depends on what type of auction and what the estate auctions company charges. You should consult with a local company and ask them about more details. Most of them will do a free consultation and answer any of your questions. Good luck with your item!