Hi,
Be sure to research similar items on ebay and check fished auctions to see what they have sold for.
And also use as many keywords in your title as possible: ie. BNIB(brand new in box), baby, nursery, change table, brand of item, and maybe even your location.
Definitely do not deliver for free! I have found that it is much easier if people pay by bank deposit or paypal, then organise a time that suits YOU to deliver it. Saves any hassle.
Check out the listing fees for ebay, I think you'll find that items listed for $49.99 will be cheaper than listing at $50.
Good Luck!