I'm still struggling with this problem and I'm sick of it. This must not be affecting most people, but there are plenty of threads on this topic with no universal solutions that I've seen.
The alert:
Could not launch “my App”.
Your iPhone6 has denied the launch request.
[OK] button
On the console:
error: failed to launch '/private/var/containers/Bundle/Application/a-long-string-here/my App.app' -- [my] iPhone6 has denied the launch request.
A partial workaround is to edit my Product:Scheme:Edit Scheme... to "Ask on launch". This will allow the app to usually run and produce console output. You can then attach the Debugger, although you lose console output when you do that. In short, it's a neverending PITA and a huge time-waster.
Has anyone figured this out?