I think the best way for you to reconnect is for you to work on becoming the person you want to be. As a mom, I understand how draining (physically and emotionally) parenting an infant/toddler is. I'm not surprised that you feel depressed at times and you and your H have found it hard to keep the romance in your relationship going. But, at 2 1/2 years old, your child is old enough that you may be able to start doing more outside of the home. Are you friends with other moms with kids? Could you set up a playdate swap with them? Is there a reasonably priced day care that you could send your kid to 2 or 3 times a week (for 3 hours or so)? Do you have family nearby that could take your son for an overnight visit? That would give you time to exercise, pursue a hobby, reconnect with old friends. If you can make time to rediscover the person you were before you became a mom, your H may rediscover her too.
As for low cost date nights?
Movie nights at home -- you and H take turns picking out the movie, make popcorn, turn off your phones, sit on the couch together and laugh.
Train for something together -- sign up for a 5K run and say "H I want you to do this with me."
Go bowling, play miniature golf, rent a canoe -- just get out and do something different together.
Also, I agree that reading His Needs, Her Needs might be a good place to start.