Launch App on connected Device without Apple Developer Program
You will need:


a Mac running Xcode 7 (which is currently in beta and not finished yet)
an iOS device running iOS 9 (which is also in beta and not released yet) or iOS 8
an Apple ID to sign into both Xcode and the iOS device - this will generate the provisioning profiles needed for your code to run on your devices.


To get prepared for this, download the beta version of Xcode and follow one of the iOS session videos that show how to run one of the Apple-provided sample projects. You will then build and run that to your connected device as a target.

Eventually, the latest Xcode from the Mac App Store will have these features for anyone to use released versions of the tools on released iOS versions.