After some research got the solution to set shipping price to summary on checkout if there is only one shipping method available.
For this, need to extend
Have to define '
Magento_Checkout/js/model/cart/estimate-service' and pass dependency
estimateService into function.
Comment out this line
var price = this.totals().shipping_amount; under function
getValue: function() and add following two lines after that.
var shippingMethod = quote.shippingMethod();
var price = shippingMethod.amount;
I am adding screen shot of entire file /module-checkout/view/frontend/web/js/view/summary/shipping.js how it looks after extending and editing.